Robotic manipulation on LIBERO Spatial (Success Rate, Pass@50)
85.8Success RateCentralized
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Centralized# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 85.8 | 100 | |
| CentralizedE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 85.8 | 100 | |
| CentralizedE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 85.8 | 100 | |
| ForgeVLAE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 85.4 | 100 | |
| FedAvgE=100, P=1, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 80.6 | 100 | |
| ForgeVLA# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 72.6 | 100 | |
| FedAvg# Params (M)=3882.72, # Trainable Params (M)=128.102026.05 | 68.6 | 90 | |
| ForgeVLAE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 68.2 | 90 | |
| FedAvgE=10, P=10, # Params (M)=3882.724, # Trainable Params (M)=128.1012026.05 | 50.8 | 90 | |
| FedVLA* + CLIP# Params (M)=519.82, # Trainable Params (M)=92.902026.05 | 11.6 | 20 | |
| FedVLA*# Params (M)=79.23, # Trainable Params (M)=79.232026.05 | 0.4 | 10 |