FlowEval: How Much Adaptation Does an Embodied Foundation Model Need at Deployment?

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Large-scale pretraining is reducing the amount of adaptation required to deploy embodied foundation models, but it is not guaranteed that a pretrained model already provide the level of performance required in every deployment. Practitioners therefore need to understand how well a pretrained model matches a target deployment and how much adaptation data is left to be collected. We study whether a small set of successful target-domain demonstrations can reveal whether and how much target-domain data will be required before any adaptation. We introduce FlowEval, a set of training-free metrics that use the flow-matching objective to probe an embodied foundation model with a set of demonstrations. FlowEval quantifies predictive disagreement on successful target demonstrations to assess how well a pretrained model fits a target deployment. Across four embodied foundation model families: Pi-0.5, MolmoAct2, GR00T, and DreamZero, FlowEval distinguishes seen from unseen deployments across real-world and simulated manipulation. Further, by finetuning Pi-0.5 and GR00T on 17 RoboCasa365 manipulation tasks, we showed that FlowEval correlates with how success rate improves as additional adaptation data is provided. Together, these results suggest that FlowEval can serve as a lightweight, training-free diagnostic of how much model--deployment adaptation may be required.

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