Does HIL-SERL run on Franka Emika Panda?

Capabilities

Caveats

• Upstream names a Panda only as one arm of its bimanual Panda + FR3 setup. It does not say which single-arm tasks ran on which Franka model.
• 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 2026-10-24 (1d ago)

   HIL-SERL authors' repo provides a Franka walkthrough (RAM insertion, USB pick-up and insertion, object handover, egg flip).

   “We provide a step-by-step guide to run RL policies with HIL-SERL on a Franka robot.”

   https://github.com/rail-berkeley/hil-serl/blob/c32939bccb65f3b8c43a9f9add3d322d4ab0264a/README.md
2. T1 · upstream documentedofficial-docssource 2025-10-27verified 2026-10-24 (1d ago)

   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