arXiv2025
As embodied AI systems become increasingly multi-modal, personalized, and interactive, they must learn effectively from diverse sensory inputs, adapt continually to user preferences, and operate safely under resource and privacy constraints. These challenges expose a pressing need for machine learning models capable of swift, context-aware adaptation while balancing model generalization and personalization. Here, two methods emerge as suitable candidates, each offering parts of these capabilities: multi-modal multi-task foundation models (M3T-FMs) provide a pathway toward generalization across tasks and modalities, whereas federated learning (FL) offers the infrastructure for distributed, privacy-preserving model updates and user-level model personalization. However, when used in isolation, each of these approaches falls short of meeting the complex and diverse capability requirements of real-world embodied AI environments. In this vision paper, we introduce multi-modal multi-task federated foundation models (M3T-FFMs) for embodied AI, a new paradigm that unifies the strengths of M3T-FMs with the privacy-preserving distributed training nature of FL, enabling intelligent systems at the wireless edge. We collect critical deployment dimensions of M3T-FFMs in embodied AI ecosystems under a unified framework, which we name "EMBODY": Embodiment heterogeneity, Modality richness and imbalance, Bandwidth and compute constraints, On-device continual learning, Distributed control and autonomy, and Yielding safety, privacy, and personalization. For each, we identify concrete challenges and envision actionable research directions. We also present an evaluation framework for deploying M3T-FFMs in embodied AI systems, along with the associated trade-offs. Finally, we present a prototype implementation of M3T-FFMs and evaluate their energy and latency performance.