Does OpenVLA-OFT run on Franka Emika Panda?
partial
Scope: Simulation only: LIBERO; 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 | Fine-tuned and evaluated on the four LIBERO suites (Spatial, Object, Goal, Long); upstream releases LIBERO-finetuned checkpoints. | ev-oft-paper-libero, ev-oft-readme-libero |
| Teleop + record | no verified evidence | — |
Evidence 2 sources; the cell shows the highest tier
- T1 · upstream documentedpapersource 2025-04-28verified 2026-10-25 (today)
OpenVLA-OFT paper, Sec. V-A: LIBERO, the simulation benchmark used, features a simulated Franka Emika Panda arm.
“We evaluate on the LIBERO simulation benchmark [26], which features a Franka Emika Panda arm in simulation with demonstrations containing camera images, robot state, task annotations, and delta end-effector pose actions.”
https://arxiv.org/abs/2502.19645v2 - T1 · upstream documentedofficial-docsverified 2026-10-25 (today)
OpenVLA-OFT README quick start loads the LIBERO-Spatial fine-tuned checkpoint and lists the GPU needed for LIBERO sim tasks.
“1 GPU with ~16 GB VRAM for LIBERO sim benchmark tasks”
https://github.com/moojink/openvla-oft/blob/e4287e94541f459edc4feabc4e181f537cd569a8/README.md
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[](https://caniembody.pages.dev/compat/franka-panda/openvla-oft)<iframe src="https://caniembody.pages.dev/embed/franka-panda/openvla-oft" width="380" height="132" style="border:0" title="OpenVLA-OFT on Franka Emika Panda | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij