I've seen one method for joining foam FRP panels that uses an inner and outer aluminum corner extrusion with a screw through the inside extrusion that pulls them together. There isn't much thermal bridging through the screw but the extrusion profile didn't allow for edge over lap so the corners of the panel lined up with each other and didn't offer great insulation in that area.Ambition Strikes and Everlander welded an aluminum exoskeleton and glued panels inside of it. OEV does something similar I think, only they rivet the aluminum pieces together with plates on the corners. I don't know exactly how Aterra and Scout do theirs but they have aluminum on the exterior edges. I wouldn't call that a frame... but I guess you could.
Build many and have fun testing them!