Does OpenVLA-OFT run on Franka Research 3?

Capabilities

Caveats

• Community-reported only (single third-party repo, ww249/Openvla-oft-for-Franka-Research-3); not documented by the OpenVLA-OFT authors or maintainer-tested.
• One task only (pick up the banana and place it into the plate), one third-person camera, Cartesian-delta actions streamed at 10 Hz through the author's own libfranka controller.
• The author reports full-task success only after capping end-effector speed and moving in small steps, and notes manually pausing near the table and above the plate before resuming the policy.

Evidence 3 sources; the cell shows the highest tier

1. T3 · community reportedsource-codeverified 2026-10-25 (today)

   Repo README (Chinese): a real Franka Research 3 data-collection repo producing single third-person-camera OpenVLA-OFT fine-tuning data; action chunk 16 x 7 at 10 Hz in the fr3_link0 frame.

   “这是 Franka Research 3 真实机械臂数据采集仓库，用于采集单第三视角相机的 OpenVLA-OFT 微调数据。”

   https://github.com/ww249/Openvla-oft-for-Franka-Research-3/blob/3584446bd7191dcb59eaf13bfa50ec1f1f51ff15/README.md
2. T3 · community reportedsource-codeverified 2026-10-25 (today)

   robot_runtime README: OpenVLA-OFT Franka runtime queries a policy server and streams Cartesian velocity commands to the FR3 via libfranka (--execute), following the OFT deploy recipe used in training.

   “The runtime follows the OpenVLA-OFT deploy recipe used during training:”

   https://github.com/ww249/Openvla-oft-for-Franka-Research-3/blob/3584446bd7191dcb59eaf13bfa50ec1f1f51ff15/robot_runtime/README.md
3. T3 · community reportedsource-codeverified 2026-10-25 (today)

   README test notes dated 2026.7.19 (Chinese): with an end-effector speed cap and small per-step moves the full task succeeded; author also manually stopped near the table/above the plate before re-running the VLA.

   “4. 设置机械臂末端执行器执行速度上限，每次移动小步，实现完整任务的成功”

   https://github.com/ww249/Openvla-oft-for-Franka-Research-3/blob/3584446bd7191dcb59eaf13bfa50ec1f1f51ff15/README.md