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Fortunately, vision-equipped robots deployed across various domains already produce abundant vision-action pairs that can be leveraged to scale up VLA training more efficiently. However, these raw data cannot be centrally aggregated due to various constraints and also exhibit severe heterogeneity. To address these challenges, in this paper, we propose ForgeVLA, a federated VLA training framework that learns VLA models from distributed vision-action pairs without centralizing raw data or requiring manual annotations. 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To address these challenges, in this paper, we propose ForgeVLA, a federated VLA training framework that learns VLA models from distributed vision-action pairs without centralizing raw data or requiring manual annotations. Specifically, each client in ForgeVLA is equipped with an embodied instruction classifier that maps vision-action pairs to a predefined instruction set, recovering the missing language modality and forming complete vision-l","title":"ForgeVLA: Federated Vision-Language-Action Learning without Language Annotations","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-11T04:43:50Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.07474"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:9652744ac86cb975e42ab1ee6662aa7df26c8f5291b931f82ec77abb8251977d87823139a14454a8c646dec4672e8c945282ac86a6a542ab17bf2c75f99e5203","signer":"crovia.substrate","subject":{"observed_at":"2026-05-11T04:43:50Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.07474"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"128f0f276e9fcd1c11e610569572db72d7c5a95375c9d8431fe3b1766e276c58","leaf_index":126479,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"42502b20a557c194676fa2179c6ce5a625248f543bdea009fcea45d1e53a9a8f","side":"left"},{"sibling":"9a47e0faa0a35f42e7681ff9e10466414156fd5154a0901539ee6ffcdd8443e2","side":"left"},{"sibling":"e588e499321a55f6acffc0cc5862dcefc24954b90c0418c32efee64eb8d62cbe","side":"left"},{"sibling":"169f698d4fd7740dad0f70728e77bb72fa24066342d8fd1117ac5a263032173b","side":"left"},{"sibling":"77dec96de78c7823e4e2b44d5be7868c4b0f018db99bef199158f98cbaea8f48","side":"right"},{"sibling":"e63dc79193f59065db84ae5c3e86878f8cc8953d9824c2b19dd390d4c20e9da2","side":"right"},{"sibling":"712d82c59eb28255f7ca26083df3589f2a51f6b061f866524d06eb1cc905f939","side":"right"},{"sibling":"ad7b1a4dca274f08be7bc11dcd03ffbe41ba3906e71a39530ef457984a3802ed","side":"right"},{"sibling":"62d48549e4d4466089a57a96bd9bea15741d62a7cb314f0f9c37c4c22ac650fa","side":"right"},{"sibling":"a2c696699a233359c7b4b418ebd356db453d4b886f4bd076ef34b15ee86144a3","side":"left"},{"sibling":"1a581be91236d1f25e8d47fe5efa0e2b51b7f0f6d706ef76a9093067688e5d56","side":"left"},{"sibling":"878cc30108509c9fa1fc52705a216f519d73b647916fcbdfc30a389934d3364b","side":"left"},{"sibling":"ae7dfff36ba07d9f48c36c28a341482ef244ee13cd0efd49aee2bbef2fd65f87","side":"right"},{"sibling":"62ac6554017807bd83187f5a3e5f4f72d6c482616429c2780e9fff1f4845fa04","side":"left"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_9dd55be32578db6c846816147e4e3f55559858db0e6fc137b1522da65c4ddfc0"}}