Does ACT run on Franka Emika Panda?

Capabilities

Caveats

• Community-reported only; not documented upstream or maintainer-tested.
• The real-robot evidence uses the LeFranX fork (Panda/FER + RobotEra XHand, 19-D action space), not an unmodified LeRobot install. LeFranX has no Franka Hand gripper interface.

Evidence 4 sources; the cell shows the highest tier

1. T3 · community reportedpapersource 2025-09-17verified 2026-10-24 (1d ago)

   LeVR paper: LeRobot ACT is fine-tuned on 100 LeFranX demos per task and rolled out on the robot (10 rollouts per task, 3 tasks).

   “Using the LeRobot framework, we directly finetuned two state-of-the-art visuomotor policies, ACT and DP, on our LeFranX-collected dataset.”

   https://arxiv.org/abs/2509.14349v1
2. T3 · community reportedpapersource 2025-09-17verified 2026-10-24 (1d ago)

   LeVR hardware: Franka FER with an XHand, three RealSense D435 cameras at 320x240/30 fps, inference on an RTX 6000 Ada server.

   “Experiments were conducted using a Franka FER robot equipped with a RobotEra XHand dexterous hand.”

   https://arxiv.org/abs/2509.14349v1
3. T3 · community reportedhub-checkpointsource 2026-04-02verified 2026-10-24 (1d ago)

   config.json type=act. train_config dataset TInkybala/PickCubeVLA0, whose meta/info.json robot_type=panda_ros_cartesian (148 episodes, panda_joint1-7 state, Cartesian-velocity actions). Auto-generated card, no rollout results. The Panda identity comes from the repo/robot_type naming.

   https://huggingface.co/TInkybala/Real_Panda_PickCubeVLA0_act_20260402_143912
4. T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)

   config.json type=act. train_config dataset ases200q2/Real_Panda_CartesianVel_SpaceMouse, whose meta/info.json robot_type=panda_ros_cartesian (25 episodes, one camera).

   https://huggingface.co/ases200q2/Real_Panda_CartesianVel_SpaceMouse_policy