A method for training a central model in a federated learning system is provide. The method includes receiving a first update from a first local model of a set of local models; receiving a second update from a second local model of the set of local models; enqueueing the first update and the second update in one more queues corresponding to the set of local models; selecting an update from the one or more queues to apply to a central model based on determining that a selection criteria is satisfied, the selection criteria being related to a quality of the central model; and applying the selected update to the central model or instructing a node to apply the selected update to the central model.