A composite forming apparatus comprising: an end effector; a forming feature that is coupled to the end effector, wherein the end effector moves the forming feature relative to a composite ply to form the composite ply over a forming tool or a prior formed composite ply; and a non-contact heater that locally heats a portion of the composite ply before the portion of the composite ply is formed over the forming tool or the prior formed composite ply; wherein the non-contact heater comprises a first non-contact heating element that indirectly heats the portion of the composite ply from a first heating direction; and a second non-contact heating element that indirectly heats the portion of the composite ply from a second heating direction, which is opposite the first heating direction, wherein the non-contact heater is a radiant heater or a convection heater; wherein the first non-contact heating element is positioned to heat a first ply surface of the portion of the composite ply ahead of the forming feature before the portion of the composite ply is formed over a forming surface of the forming tool or the prior formed composite ply by the forming feature, wherein the second non-contact heating element is positioned to heat a second ply surface of the portion of the composite ply ahead of the forming feature before the portion of the composite ply is formed over the forming surface of the forming tool or the prior formed composite ply by the forming feature, wherein the first ply surface of the composite ply faces away from the forming surface of the forming tool or the prior formed composite ply, wherein the forming feature contacts the first ply surface of the composite ply; and wherein the second ply surface of the composite ply faces the forming surface of the forming tool or the prior formed composite ply. an end effector; a forming feature that is coupled to the end effector, wherein the end effector moves the forming feature relative to a composite ply to form the composite ply over a forming tool or a prior formed composite ply; and a non-contact heater that locally heats a portion of the composite ply before the portion of the composite ply is formed over the forming tool or the prior formed composite ply; wherein the non-contact heater comprises a first non-contact heating element that indirectly heats the portion of the composite ply from a first heating direction; and a second non-contact heating element that indirectly heats the portion of the composite ply from a second heating direction, which is opposite the first heating direction, wherein the non-contact heater is a radiant heater or a convection heater; wherein the first non-contact heating element is positioned to heat a first ply surface of the portion of the composite ply ahead of the forming feature before the portion of the composite ply is formed over a forming surface of the forming tool or the prior formed composite ply by the forming feature, wherein the second non-contact heating element is positioned to heat a second ply surface of the portion of the composite ply ahead of the forming feature before the portion of the composite ply is formed over the forming surface of the forming tool or the prior formed composite ply by the forming feature, wherein the first ply surface of the composite ply faces away from the forming surface of the forming tool or the prior formed composite ply, wherein the forming feature contacts the first ply surface of the composite ply; and wherein the second ply surface of the composite ply faces the forming surface of the forming tool or the prior formed composite ply.