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Seed2Scale addresses critical bottlenecks in robot learning by proposing a self-evolving data engine that leverages small-model collection and large-model evaluation to overcome domain shifts. Its "parallel worlds" expansion technique effectively projects learned trajectories into diverse environments, enabling robust zero-shot generalization to real-world scenarios where baseline methods fail. This approach demonstrates significant scaling potential for embodied AI systems requiring efficient data generation without performance degradation.
Seed2Scale: A Self-Evolving Data Engine with Parallel Worlds Expansion for Scalable Robot Learning
arXiv:2603.08260v2 Announce Type: replace Abstract: Existing data generation methods for robot learning suffer from limited exploration, embodiment gaps, low signal-to-noise ratios, and domain shifts, leading to performance degradation during self-iteration and poor generalization to unseen scenes. To address these challenges, we propose Seed2Scale, a self-evolving data engine with parallel worlds expansion. Starting with as few as four seed demonstrations, Seed2Scale first executes a self-evolution stage driven by a heterogeneous synergy of "small-model collection, large-model evaluation, and target-model learning". Specifically, the lightweight Vision-Language-Action (VLA) model, SuperTiny, serves as a dedicated data collector for robust exploration. Concurrently, a pretrained Vision-Language Model (VLM) functions as a verifier to autonomously score and filter trajectories, supporting stable self-evolution in the evaluated tasks without performance collapse. Furthermore, Seed2Scale introduces a parallel worlds stage, projecting self-evolved trajectories into different environments of the same task to generate more diverse data and enhance adaptability to unseen scenes, including real-world environments. Experimental results demonstrate that Seed2Scale exhibits significant scaling potential: as iterations progress, the success rate of the target model shows a consistent upward trend, significantly outperforming the seed baseline. Notably, Seed2Scale achieves a remarkable 75.38% success rate in zero-shot real-world evaluations, where baseline methods fail completely (0%). Project page: https://terminators2025.github.io/Seed2Scale.github.io
Abstract:Existing data generation methods for robot learning suffer from limited exploration, embodiment gaps, low signal-to-noise ratios, and domain shifts, leading to performance degradation during self-iteration and poor generalization to unseen scenes. To address these challenges, we propose Seed2Scale, a self-evolving data engine with parallel worlds expansion. Starting with as few as four seed demonstrations, Seed2Scale first executes a self-evolution stage driven by a heterogeneous synergy of "small-model collection, large-model evaluation, and target-model learning". Specifically, the lightweight Vision-Language-Action (VLA) model, SuperTiny, serves as a dedicated data collector for robust exploration. Concurrently, a pretrained Vision-Language Model (VLM) functions as a verifier to autonomously score and filter trajectories, supporting stable self-evolution in the evaluated tasks without performance collapse. Furthermore, Seed2Scale introduces a parallel worlds stage, projecting self-evolved trajectories into different environments of the same task to generate more diverse data and enhance adaptability to unseen scenes, including real-world environments. Experimental results demonstrate that Seed2Scale exhibits significant scaling potential: as iterations progress, the success rate of the target model shows a consistent upward trend, significantly outperforming the seed baseline. Notably, Seed2Scale achieves a remarkable 75.38% success rate in zero-shot real-world evaluations, where baseline methods fail completely (0%). Project page: this https URL
Robotics (cs.RO)
arXiv:2603.08260 [cs.RO]
(or arXiv:2603.08260v2 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2603.08260 Focus to learn more arXiv-issued DOI via DataCite
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