Does Evo-1 run on Franka Emika Panda?
Scope: Simulation only: LIBERO (simulated Franka Panda); no real-robot training or inference documented.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | no verified evidence | — | |
| Real-robot inference | no verified evidence | — | |
| Simulation inference | works | LeRobot v0.6.1 reports 96.65% overall on LIBERO (2,000 episodes) for its reproduced Stage-2 checkpoint; the Evo-1 paper reports 94.8%. | ev-lerobot-evo1-libero, ev-evo1-paper-libero, ev-libero-panda-src |
| Teleop + record | no verified evidence | — |
Evidence 3 sources; the cell shows the highest tier
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-25 (today)lerobot 0.6.1
LeRobot v0.6.1 Evo-1 guide: two-stage training on lerobot/libero and a LIBERO evaluation of the released Stage-2 checkpoint (zuoxingdong/evo1_libero).
“| **Overall** | **1,933** | **2,000** | **96.65%** |”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/evo1.mdx - T1 · upstream documentedpaperverified 2026-10-25 (today)
Evo-1 paper (v2): LIBERO is one of its three simulation benchmarks (with Meta-World and RoboTwin).
“and reaches 94.8% on LIBERO, demonstrating its adaptability in both single-arm and dual-arm manipulation tasks.”
https://arxiv.org/abs/2511.04555v2 - T1 · upstream documentedsource-codesource 2025-03-15verified 2026-10-25 (today)
LIBERO's tabletop tasks instantiate a Mounted<robot> model (libero_tabletop_manipulation.py); its MountedPanda robot class is the Franka Panda.
“Panda is a sensitive single-arm robot designed by Franka.”
https://github.com/Lifelong-Robot-Learning/LIBERO/blob/8f1084e3132a39270c3a13ebe37270a43ece2a01/libero/libero/envs/robots/mounted_panda.py
Evo-1 inference speed by hardware robot-independent · inference cost only
| Compute | Runtime | Precision | Cams | p50 / p95 ms | Inference | Platform | Source |
|---|---|---|---|---|---|---|---|
| Jetson Orin Nano 8GB (Super) | ONNX (split) | fp16 | 1 | 289.18 / 292.12 | 3.45 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · tensorrt 10.16.2 (system, via ONNX Runtime TensorRT EP)conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 · onnxruntime-gpu: 1.24 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Untrained action head: measures inference cost of the EVO1 architecture only; the author marks it as never to control a robot. Author labels the precision "mixed FP16". | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | TensorRT | fp16 | 2 @640x480 | 332.77 / 333.63 | 3 Hz | jetpack 7.2.1 · power_mode MAXN_SUPER, clocks pinned with jetson_clocks (GPU 1020 MHz, CPU 1728 MHz) · tensorrt 10.16.2.10conditionsboard: Jetson Orin Nano Engineering Reference Developer Kit Super (8 GB) · l4t: R39.2.1 · os: Ubuntu 24.04.4 LTS · python: 3.12.3 · desktop: running Inference cost only; not task success. 300 s run on synthetic 640x480 observations resized by the exported policy to 448x448; 32 denoising steps; latency is runtime-only over a pre-materialized observation ring. Whole-board RAM in use 2.76 GB (unified memory, desktop running). Actions were gated against the stock policy (cosine >= 0.99999) before timing. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | ONNX (split) | fp16 | 2 | 414.67 / 424.72 | 2.41 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · tensorrt 10.16.2 (system, via ONNX Runtime TensorRT EP)conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 · onnxruntime-gpu: 1.24 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Author labels the precision "mixed FP16". System RAM 6001 MB in use. | T3 · community reported |
Embed this cell
Badge for READMEs and model cards. It always shows the current state.
[](https://caniembody.pages.dev/compat/franka-panda/evo1)<iframe src="https://caniembody.pages.dev/embed/franka-panda/evo1" width="380" height="132" style="border:0" title="Evo-1 on Franka Emika Panda | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij