Does VQ-BeT run on Franka Emika Panda?
partial
Scope: Simulation only: Franka Kitchen (MuJoCo); 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 | VQ-BeT paper benchmarks on Franka Kitchen (state and image variants, goal- and non-goal-conditioned) with 566 human demonstrations. The paper's real-robot experiments used a Hello Robot Stretch, not a Panda. | ev-vqbet-paper-kitchen, ev-vqbet-repo-kitchen |
| Teleop + record | no verified evidence | — |
Evidence 2 sources; the cell shows the highest tier
- T1 · upstream documentedpapersource 2024-06-28verified 2026-10-25 (today)
VQ-BeT paper (App. environments): Franka Kitchen is a simulated environment with a Franka Panda arm, used for VQ-BeT's simulation benchmarks.
“with a Franka Panda arm with a 7 dimensional action space and 566 human collected demonstrations.”
https://arxiv.org/abs/2403.03181v2 - T1 · upstream documentedofficial-docssource 2024-02-28verified 2026-10-25 (today)
The official VQ-BeT repo ships training configs and pretrained weights for the simulated Kitchen environment.
“If you want to quickly see the performance of VQ-BeT on goal-cond Kitchen env without training it from scratch, please check the description below.”
https://github.com/jayLEE0301/vq_bet_official/blob/09d4851288ca5deaaa1ab367a208e520f8ee9a84/README.md
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij