ForgeVLA enables federated VLA model training from unlabeled vision-action pairs by recovering language via embodied classifiers and using contrastive planning plus adaptive aggregation to avoid feature collapse.
FedVLA: Federated vision-language-action learning with dual gating mixture-of-experts for robotic manipulation
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ForgeVLA: Federated Vision-Language-Action Learning without Language Annotations
ForgeVLA enables federated VLA model training from unlabeled vision-action pairs by recovering language via embodied classifiers and using contrastive planning plus adaptive aggregation to avoid feature collapse.