Co-VLA: Consensus-based Federated Training for Vision-Language-Action Models

arXiv:2609.19923 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-21

Code: https://github.com/huggingface/lerobot

Terminology

• Fine-Tuning — 27× in this paper · explained in 5 episodes
• Federated Learning — 11× in this paper · explained in 15 episodes
• LoRA Fine-Tuning — 11× in this paper · explained in 3 episodes
• Adaptation — 10× in this paper · explained in 1 episode
• Aggregation — 8× in this paper · explained in 1 episode
• Transformer — 4× in this paper · explained in 2 episodes
• Parameter-Efficient Fine-Tuning — 3× in this paper · explained in 2 episodes
• Sparsity — 3× in this paper · explained in 4 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• LoRA Adapters — 2× in this paper · explained in 3 episodes
• Model-Agnostic — 2× in this paper · explained in 2 episodes
• Pruning — 2× in this paper · explained in 4 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Vision-language models — 2× in this paper · explained in 2 episodes
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptivity — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Empirical Methods in Natural Language Processing — 1× in this paper
• Local Optimization — 1× in this paper · explained in 2 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Mixture-of-Experts (MoE) — 1× in this paper · explained in 7 episodes
• Non-IID Data — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transformer Models — 1× in this paper · explained in 2 episodes

Sources

• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• pFedLoRA: Model-Heterogeneous Personalized Federated Learning with LoRA Tuning

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