https://valetudo.cloud is the only one I know about but not sure if the controller in those units would be flashable.
> Please note that this list is exhaustive. These are the supported robots. Robots not on this list are not supported by Valetudo. If your robot is not on this list, it is not supported.
From what i gathered so far, Valetudo is actually no custom firmware but modified vendor firmware? So, not sure if anyone related to the project has any interest and capability to reverse that...