When Human Corrections Travel: Safety in Federated VLA Adaptation
Vigneshwaran Subbaraju, Obaidullah Zaland, Monowar Bhuyan
原文摘要
Vision-language-action (VLA) policies can adapt to local human intervention, while federated learning can combine distributed robot experience without pooling raw records. We examine their prospective intersection: sharing adaptations derived from diverse human corrections across tasks, environments, people, and robot embodiments. Corrections differ in modality, safety semantics(urgency, behavioral scope, etc.), and privacy sensitivity. A shared update that improves mean task success may suppress a rare safety intervention or produce an unsafe response on another robot. We argue for three requirements: preserve the context and uncertainty of multimodal corrections when deciding what to share; assess candidate updates in each receiving robot's closed loop before deployment; and evaluate leakage alongside retention of safety-critical evidence. Immediate, legible defensive behavior remains necessary during human interaction. We offer counterexamples and a falsifiable evaluation agenda, not experimental results.
cs.RO · cs.LG