Reinforcement learning for robotic manipulation is often limited by poor sample efficiency and unstable training dynamics, challenges that are further amplified in federated settings due to data privacy constraints and task heterogeneity. To address these issues, we propose F-DRL,a federated dynamics-aware representation learning framework that enables multiple robotic tasks to collaboratively learn structured latent representations without sharing raw trajectories or policy parameters. The framework combines robotics priors with an action-conditioned latent dynamics model to learn low-dimensional state and state–action embeddings that explicitly capture task-relevant geometric and transition structure. Representation learning is performed locally at each client, while a central server aggregates encoder parameters using a similarity-weighted scheme based on second-order latent geometry. The learned representations are then used as frozen auxiliary inputs for downstream model-free reinforcement learning. We evaluate F-DRL on seven heterogeneous robotic manipulation tasks from the MetaWorld benchmark. While achieving performance comparable to centralized training and standard federated baseline, F-DRL substantially improves training stability relative to FedAvg on heterogeneous manipulation tasks with partially shared dynamics (e.g., Drawer-Open and Window-Open), reducing the mean across-seed standard deviation and the AUC of this deviation by over 60%. The method remains neutral on simple tasks and performs less consistently on contact-rich manipulation tasks with task-specific dynamics, indicating both the benefits and the practical limits of representation-level knowledge sharing in federated robotic learning.
Upadhyay et al. (Sun,) studied this question.