Robotics paper index

PoCoFL: POlicy-COmpliant Federated Learning

2026-10-02 · arXiv: 2610.03650

One-line summary

A robotics research paper on PoCoFL: POlicy-COmpliant Federated Learning.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Federated Learning (FL) is a privacy-oriented learning paradigm that enables collaborative model training while keeping training data local to participating clients. However, it does not guarantee that clients submit policy-compliant contributions or that aggregators process admitted contributions correctly. Existing verifiable FL systems tailor validation rules to specific FL settings, learning workflows, and cryptographic constructions, limiting their applicability across network topologies, participant roles, and aggregation semantics. In this paper, we present PoCoFL, a policy-compliant federated learning framework that separates three aspects: (i) FL type, (ii) policy semantics, and (iii) cryptographic realisation. We provide a formalisation that captures client and aggregation requirements as policy-dependent relations. Clients prove compliance of their contributions using commitments and non-interactive zero-knowledge proofs, while aggregators prove that the recorded set of admitted contributions was processed according to the selected aggregation policy. We demonstrate PoCoFL through four formal instantiations: (i) vanilla, (ii) continual, (iii) personalised, and (iv) threshold-encrypted federated learning. We evaluate the effects of policy enforcement on the learning objectives of vanilla, personalised, and continual FL. We further implement proof-of-concept realisations of all four instantiations, demonstrating the versatility and practical feasibility of PoCoFL. Overall, these results show that PoCoFL can capture complex policy representations while remaining network-topology agnostic.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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