Kaichuang Zhang | Search arXiv

arXiv2026

ChunkVLA-AM: Parallel Action Chunking for Vision-Language-Action Robot Control in Additive Manufacturing

Vision-language-action (VLA) models unify visual perception, language understanding, and action generation, offering new opportunities for automation in additive manufacturing (AM). However, deployment in AM remains challenging because adapting these models to unseen robot embodiments is costly, and performance can degrade under environment changes. In this work, we present a framework for deploying OpenVLA-OFT on a FAIRINO FR3 robot in a fixed AM workcell. A data pipeline converts monocular real-world demonstrations into OpenVLA-compatible TFDS/RLDS datasets to support adaptation to the FR3 embodiment. At runtime, each inference request predicts an eight-step chunk of 7-D actions. The FR3 executes each chunk open loop before capturing a new observation, providing closed-loop feedback between chunks. The system uses a cloud-edge architecture in which the FR3 client streams observations to a remote inference server through a FastAPI interface. In 42 physical A-to-B object-transfer trials, evenly split between red and blue targets, the system succeeded in 39 (92.9%). All three failures occurred during final placement, when insufficient release-height control caused the object to topple. An illumination sweep identified a low-error luminance range of 85-125 on a 0-255 scale, with the lowest mean spatial error at 95.

cs.RO↗

arXiv2026

DFedReweighting: A Unified Framework for Objective-Oriented Reweighting in Decentralized Federated Learning

Decentralized federated learning (DFL) has emerged as a promising paradigm that enables multiple clients to collaboratively train machine learning models through iterative rounds of local training, communication, and aggregation, without relying on a central server. Nevertheless, DFL systems continue to face a range of challenges, including fairness and Byantine robustness. To address these challenges, we propose \textbf{DFedReweighting}, a unified aggregation framework that achieves diverse learning objectives in DFL via objective-oriented reweighting at the final step of each learning round. Specifically, for each client, the framework first evaluates a target performance metric (TPM) on a compact auxiliary dataset constructed from local data, yielding preliminary aggregation weights, which are subsequently refined by a customized reweighting strategy (CRS) to produce the final aggregation weights. Theoretically, we prove that an appropriate TPM-CRS combination guarantees linear convergence for general $L$-smoothand strongly convex functions. Empirical results consistently demonstrate that \textbf{DFedReweighting} significantly improves fairness and robustness against Byzantine attacks across diverse settings. Two multi-objective examples, spanning tasks across and within clients, further establish that a broad range of desired learning objectives can be accommodated by appropriately designing the TPM and CRS. Our code is available at https://github.com/KaichuangZhang/DFedReweighting.

cs.LG↗