Experiment Videos
CALVIN
SIMPLER Benchmark
LIBERO
Bi-Manual Aloha
Transfer
Insertion
Real-World Generalization
Move the banana from right stove to sink. (FLOWER w/ bg distractors)
Move the banana from right stove to sink. (OpenVLA w/ bg distractors)
Open the oven door. (FLOWER w/ bg distractors)
Open the oven door. (OpenVLA w/ bg distractors)
Move the banana from right stove to sink. (FLOWER w/ flashlight)
Move the banana from right stove to sink. (OpenVLA w/ flashlight)
Move the pot from the right stove to sink. (FLOWER w/ flashlight)
Move the pot from the right stove to sink. (OpenVLA w/ flashlight)
Move the glove from right stove to sink. (FLOWER w/ novel objects)
Move the glove from right stove to sink. (OpenVLA w/ novel objects)
Move the red cup from right stove to sink. (FLOWER w/ novel objects)
Move the red cup from right stove to sink. (OpenVLA w/ novel objects)
Real-World Single-Task and Multi-Task Long Horizon Experiments
Representative evaluation videos of FLOWER on all 20 real-world tasks and 3 multi-task long horizon sequences.
Single Task
Move banana from right stove to oven tray
Move banana from right stove to sink
Move banana from sink to right stove
Move banana from tray to right stove (FAILURE)
Close the ice box
Close the microwave
Close the oven
Open the ice box
Open the microwave
Open the oven
Pick up toast and put it in the sink
Move pot from left stove to sink
Move pot from left to right stove
Move pot from right stove to sink
Move pot from right to left stove
Move pot from sink to left stove (FAILURE)
Move pot from sink to right stove
Pull the oven tray
Push the oven tray
Push down the toaster lever (FAILURE)
Multi-Task Long Horizon
See the appendix in the paper for a listing of individual tasks in each sequence.
Open/Close All sequence, video shows 6/6 evaluation.
Oven sequence, video shows 0/5 evaluation.
Stovetop Sink sequence, video show 3/5 evaluation.