RoboFL: Federated Expert Assembly for World Action Models
RoboFL, which instantiates MoSAIC (Mixture of Slotted Adapters) for federated world-action learning, is presented, as it outperforms centralized PEFT InternVLA-A1 by 12.23% on the Franka arm, while reducing per-round client communication by up to 86.81% relative to MoE-based federated VLA baselines.
Rong-Yu Zhang, Rui-Zhi Fan, Yunfan Lou et al.
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