Does π0-FAST run on Franka Research 3?

Capabilities

Caveats

• Community-reported only (third-party EmbodiedForge/droid-fr3, a DROID fork that replaces polymetis with the Franky SDK); not documented by Physical Intelligence or maintainer-tested.
• Documents running the DROID-fine-tuned pi0_fast_droid checkpoint (DROID 7 joint + 1 gripper action space, 15 Hz) via an openpi WebSocket server; no task success results are published.

Evidence 3 sources; the cell shows the highest tier

1. T3 · community reportedsource-codesource 2026-05-10verified 2026-10-25 (today)

   droid-fr3 evaluation tutorial (Chinese): run pi0_fast_droid evaluation on an already-configured FR3 with 3 calibrated ZED cameras; openpi policy server on a GPU host, client on the robot PC, 10-step chunks executed at 15 Hz.

   “本文面向算法开发者，说明如何在已配置好的 FR3 机器人上运行 pi0_fast_droid 模型评测。”

   https://github.com/EmbodiedForge/droid-fr3/blob/a5d9d90b303b6e0f9a19c71864b7b47db6c4a60d/docs/pi0-fast-droid-inference.md
2. T3 · community reportedsource-codesource 2026-05-10verified 2026-10-25 (today)

   Client script: connects to an openpi server, sends DROID observations, executes the returned action chunk on the FR3 through the repo's Franky-based RobotEnv.

   “PC2 policy client for pi0_fast_droid inference.”

   https://github.com/EmbodiedForge/droid-fr3/blob/a5d9d90b303b6e0f9a19c71864b7b47db6c4a60d/scripts/server/run_policy_client.py
3. T1 · upstream documentedofficial-docssource 2025-06-20verified 2026-10-25 (today)

   Supporting only (not deployment evidence): openpi publishes pi0_base and pi0_fast_base pre-training normalization statistics for an FR3 + Robotiq 2F-85 setup (asset 'franka', separate from the DROID asset used above).

   “Franka Emika (non-DROID) | Franka FR3 arm with Robotiq 2F-85 gripper | franka”

   https://github.com/Physical-Intelligence/openpi/blob/070759fae105d05e958efe78fe6fb08631f23da5/docs/norm_stats.md