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FLAME: A Federated Learning Benchmark for Robotic Manipulation
KTH.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-9125-6615
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems.ORCID iD: 0000-0002-5761-4105
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-1804-6296
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2025 (English)In: IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings, Institute of Electrical and Electronics Engineers (IEEE) , 2025, p. 2494-2500Conference paper, Published paper (Refereed)
Abstract [en]

Recent progress in robotic manipulation has been fueled by large-scale datasets collected across diverse environments. Training robotic manipulation policies on these datasets is traditionally performed in a centralized manner, raising concerns regarding scalability, adaptability, and data privacy. While federated learning enables decentralized, privacy-preserving training, its application to robotic manipulation remains largely unexplored. We introduce FLAME (Federated Learning Across Manipulation Environments), the first benchmark designed for federated learning in robotic manipulation. FLAME consists of: (i) a set of large-scale datasets of over 160,000 expert demonstrations of multiple manipulation tasks, collected across a wide range of simulated environments; (ii) a training and evaluation framework for robotic policy learning in a federated setting. We evaluate standard federated learning algorithms in FLAME, showing their potential for distributed policy learning and highlighting key challenges. Our benchmark establishes a foundation for scalable, adaptive, and privacy-aware robotic learning. The code is publicly available at https://github.com/KTH-RPL/ELSA-Robotics-Challenge.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2025. p. 2494-2500
National Category
Computer Sciences Robotics and automation Computer graphics and computer vision
Identifiers
URN: urn:nbn:se:kth:diva-377806DOI: 10.1109/IROS60139.2025.11245937Scopus ID: 2-s2.0-105029951023OAI: oai:DiVA.org:kth-377806DiVA, id: diva2:2045307
Conference
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, Oct 19 2025 - Oct 25 2025
Note

Part of ISBN 9798331543938

QC 20260312

Available from: 2026-03-12 Created: 2026-03-12 Last updated: 2026-03-12Bibliographically approved

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Betran, Santiago BouLonghini, AlbertaVasco, MiguelZhang, YuchongKragic Jensfelt, Danica

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Betran, Santiago BouLonghini, AlbertaVasco, MiguelZhang, YuchongKragic Jensfelt, Danica
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