# Federated Split Learning for Resource-Constrained Robots in Industrial IoT: Framework Comparison, Optimization Strategies, and Future Directions

arXiv: https://arxiv.org/abs/2510.05713 · HTML: https://mlsanity.com/paper/2510.05713/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 15 references that are in the map.
- First posted on arXiv 7 Oct 2025.

## Builds on (most cited first, 8 of 8)

- [Communication-Efficient Learning of Deep Networks from Decentralized Data](https://mlsanity.com/paper/1602.05629/) (2016)
- [SplitFed: When Federated Learning Meets Split Learning](https://mlsanity.com/paper/2004.12088/) (2020)
- [AdaptSFL: Adaptive Split Federated Learning in Resource-constrained Edge Networks](https://mlsanity.com/paper/2403.13101/) (2024)
- [Hierarchical Split Federated Learning: Convergence Analysis and System Optimization](https://mlsanity.com/paper/2412.07197/) (2024)
- [Accelerating Split Federated Learning over Wireless Communication Networks](https://mlsanity.com/paper/2310.15584/) (2023)
- [ParallelSFL: A Novel Split Federated Learning Framework Tackling Heterogeneity Issues](https://mlsanity.com/paper/2410.01256/) (2024)
- [SwimVG: Step-wise Multimodal Fusion and Adaption for Visual Grounding](https://mlsanity.com/paper/2502.16786/) (2025)
- [Federated Split Learning with Model Pruning and Gradient Quantization in Wireless Networks](https://mlsanity.com/paper/2412.06414/) (2024)

## Abstract (arXiv)

Federated split learning (FedSL) has emerged as a promising paradigm for enabling collaborative intelligence in industrial Internet of Things (IoT) systems, particularly in smart factories where data privacy, communication efficiency, and device heterogeneity are critical concerns. In this article, we present a comprehensive study of FedSL frameworks tailored for resource-constrained robots in industrial scenarios. We compare synchronous, asynchronous, hierarchical, and heterogeneous FedSL frameworks in terms of workflow, scalability, adaptability, and limitations under dynamic industrial conditions. Furthermore, we systematically categorize token fusion strategies into three paradigms: input-level (pre-fusion), intermediate-level (intra-fusion), and output-level (post-fusion), and summarize their respective strengths in industrial applications. We also provide adaptive optimization techniques to enhance the efficiency and feasibility of FedSL implementation, including model compression, split layer selection, computing frequency allocation, and wireless resource management. Simulation results validate the performance of these frameworks under industrial detection scenarios. Finally, we outline open issues and research directions of FedSL in future smart manufacturing systems.