Does HIL-SERL run on Franka Research 3?

Capabilities

Caveats

• Upstream names an FR3 only as one arm of its bimanual Panda + FR3 setup. It does not say whether any single-arm task ran on the FR3.
• Uses the authors' JAX codebase with ROS 1 franka_ros + serl_franka_controllers (impedance control), not LeRobot's hil-serl, whose real-robot docs do not cover Franka.

Evidence 2 sources; the cell shows the highest tier

1. T1 · upstream documentedofficial-docssource 2025-10-27verified 2026-10-25 (today)

   serl_robot_infra README: the authors' bimanual setup pairs a Panda and an FR3, each run by an independent robot server.

   “For bimmanual setup, you can run completely independent servers for each arm even if they have different firmware version (we have a Panda and a FR3) by using different catkin_ws, ROS_MASTER_URI, and flask_url.”

   https://github.com/rail-berkeley/hil-serl/blob/c32939bccb65f3b8c43a9f9add3d322d4ab0264a/serl_robot_infra/README.md
2. T1 · upstream documentedpapersource 2025-03-20verified 2026-10-25 (today)

   HIL-SERL paper: the real-world tasks are solved with a single arm or a dual-arm setup; the dual-arm tasks are object handover, car-dashboard assembly and timing-belt assembly. The paper itself does not name the arm models.

   “We solve these tasks by utilizing either a single robot arm or a dual-arm setup, together with various combinations of observations and actions.”

   https://arxiv.org/abs/2410.21845v3