[R] F-DRL: Federated Representation Learning for Heterogeneous Robotic Manipulation (preprint)

We’ve been experimenting with federated RL for heterogeneous robotic manipulation and ended up building a framework that separates representation federation from policy learning.

Preprint is here.

https://www.preprints.org/manuscript/202601.2257

I’d genuinely appreciate feedback on the design choices, especially around aggregation and stability.