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Abstract

The life-cycle of robotics foundation models crucially depends on data labels. Outcome reward labels are needed for monitoring real-world deployments. Process reward labels are needed during RL post-training. Timestamped captions are needed for filtering and balancing pretraining data. We present Flora, an industrial-strength data engine used for training GR00T models, that simultaneously covers these capabilities. Flora achieves SOTA scores on the captioning benchmark WGO-Bench and reward benchmarks RoboReward and Robometer. On internal benchmarks it is competitive with GPT-6 Astra while beating other frontier models. The model is substantially cheaper than API-based alternatives, roughly ~125× cheaper than GPT-6 Astra. Flora is battle tested at scale, labeling 200,000 hours of data per day across 512 GB300s. By open-sourcing our data engine, we enable researchers to scale custom robotics datasets and explore emerging applications such as physical auto-research and human-to-robot transfer.

Explore

Hover or tap a tile to read its annotation.

Quality vs. Cost

Scale

From episodes to internet-scale data.

Human and robot. The same annotation pipeline.

Proven at scale.

200,000 hours

per day.

Production run · 512 GB300 GPUs

Benchmark Results

Benchmark / metric Flora Proprietary Open-weight
GPT-6
Astra
GPT-5.6
Sol
Claude
Opus 5
Kimi K3
Timestamped captions DenseCaptionBench Human100 subset
Segmentation F1@0.5 ↑ 54.644.232.622.721.1
Caption point quality ↑ 66.560.336.431.030.3
Joint point F1@0.5 ↑ 37.429.714.68.27.9
DenseCaptionBench Robot200 subset
Segmentation F1@0.5 ↑ 66.971.945.845.941.2
Caption point quality ↑ 73.780.269.649.748.0
Joint point F1@0.5 ↑ 51.057.933.623.622.2
WGO-Bench
Segmentation F1@0.75 ↑ 50.346.033.725.526.1
Gold-window accuracy ↑ 64.777.456.649.350.6
Joint semantic F1@0.75 ↑ 34.539.024.615.416.7
Reward annotations RoboRewardBench / RobometerBench
RoboReward MAE ↓ 40.055.478.088.268.2
Robometer OOD Kendall ↑ 72.082.364.263.163.5
Robometer ID VOC ↑ 98.998.997.191.897.2
Robometer OOD VOC ↑ 99.699.799.398.699.7
DenseRewardBench
Macro F1 ↑ 46.240.736.333.931.2
Balanced accuracy ↑ 54.244.137.835.132.3
Bad-action F1 ↑ 47.744.826.422.917.6
Failure recall ↑ 53.30.01.00.30.3
RubricBench
Pooled L1 error ↓ 6.53.68.417.115.6
Flora Best in row (ties) Arrows indicate better

Timestamped Action Instructions

Reward Modeling

BibTeX

@article{leng2026flora,
  title   = {Flora: An Open Model Suite for Scaling Robotics Data Engines},
  author  = {Sicong Leng and Yunze Man and Zhiqi Li and Jing Wang and
             Yuhe Zhang and Ryan Punamiya and Siddharth Patki and Kaiyuan Zheng and
             Zi-ang Cao and Zhiding Yu and Sifei Liu and Danfei Xu and Ben Levin and
             Jan Kautz and Yuke Zhu and Johan Bjorck and Linxi "Jim" Fan},
  year    = {2026}
}

Acknowledgements

We are grateful for discussions and help from Cristaldo Campos, Omar Laymoun, Anita Agasaveeran, Marina Davila, Jenna Diamond, and the broader NVIDIA community.