Robotic Manipulation on LIBERO Goal (Success Rate, Pass@50)
81.2Success RateForgeVLA
Evaluation results
| Method | Links | ||
|---|---|---|---|
| ForgeVLAE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 81.2 | 100 | |
| Centralized# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 75.8 | 100 | |
| CentralizedE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 75.8 | 100 | |
| CentralizedE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 75.8 | 100 | |
| FedAvgE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 57.6 | 90 | |
| ForgeVLA# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 55.2 | 100 | |
| ForgeVLAE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 41.6 | 100 | |
| FedAvg# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 28.8 | 80 | |
| FedAvgE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 17.6 | 60 | |
| FedVLA* + CLIP# Params (M)=519.82, # Trainable Params (M)=92.902026.05 | 6.2 | 20 | |
| FedVLA*# Params (M)=79.23, # Trainable Params (M)=79.232026.05 | 0.2 | 10 |