Franka Research 3
Franka Robotics' 7-DoF research arm with torque sensors in every joint and 1 kHz low-level control. LeRobot has no native support, plugin or fork for the FR3: the Franka entry in LeRobot's third-party list (LeFranX) targets the older Franka FER / Panda (see franka-panda), and evidence does not transfer between the two.
verified 2026-10-24aka FR3, Franka FR3, Franka Research 3 arm, Franka Panda successor
Policies on Franka Research 3 11 with evidence · 10 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T3 · community reported | 2026-10-25 today | Community-reported only (anonymous PhAIL benchmark under double-blind review); not documented upstream or maintainer-tested. |
| Diffusion Policy Imitation | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| HIL-SERL RL | works with caveats | T1 · upstream documented | 2026-10-25 today | Upstream names an FR3 only as one arm of its bimanual Panda + FR3 setup. It does not say whether any single-arm task ran on the FR3. |
| LingBot-VA World model | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| Multitask DiT Imitation | works with caveats | T1 · upstream documented | 2026-10-25 today | Evidence is TRI's own Large Behavior Model (DiT) stack, not LeRobot's multi_task_dit reimplementation; LeRobot has no FR3 robot type and no FR3 run through LeRobot is documented. |
| OpenVLA-OFT VLA | works with caveats | T3 · community reported | 2026-10-25 today | Community-reported only (single third-party repo, ww249/Openvla-oft-for-Franka-Research-3); not documented by the OpenVLA-OFT authors or maintainer-tested. |
| π0-FAST VLA | works with caveats | T1 · upstream documented | 2026-10-25 today | Community-reported only (third-party EmbodiedForge/droid-fr3, a DROID fork that replaces polymetis with the Franky SDK); not documented by Physical Intelligence or maintainer-tested. |
| π0.5 VLA | works with caveats | T3 · community reported | 2026-10-25 today | Community-reported only; not documented upstream or maintainer-tested. |
| SmolVLA VLA | works with caveats | T3 · community reported | 2026-10-25 today | Community-reported only (CRISP paper authors); not documented upstream or maintainer-tested. |
| VLA-JEPA VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Evidence is the authors' own lab evaluation (100 demonstrations, three pick-and-place tasks); the upstream repo ships training and simulation-evaluation scripts but no FR3 deployment code or FR3 checkpoint. |
| X-VLA VLA | partial | T3 · community reported | 2026-10-24 1d ago | The FR3 variant comes from the dataset name only; its meta/info.json robot_type is the generic "franka". |
Not yet verified: EO-1, Evo-1, Fast-WAM, GR00T N1.7, MolmoAct2, OpenVLA, π0, TD-MPC, VQ-BeT, WALL-OSS. Have evidence?
Specifications
- Degrees of freedom
- 7src
- Payload
- ?–3000 gsrc
- Repeatability
- ?–0.1 mmsrc
- Homepage
- franka.de/franka-research-3
Franka spec: 3 kg payload, 855 mm reach, position repeatability <±0.1 mm, 7 integrated joint torque sensors.
Framework support
Sources
- T1 · upstream documentedvendor-docsverified 2026-10-25 (today)
Official FR3 datasheet (R02212 2.4). Its spec table lists 7 degrees of freedom, 3 kg rated payload, 855 mm maximum reach and position repeatability <+/- 0.1 mm (ISO 9283).
“<+/- 0.1 mm (ISO 9283)”
https://franka.de/hubfs/Datasheet%20Franka%20Research%203_R02212_2.4_EN.pdf?hsLang=en - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeFranX is listed as a LeRobot extension (⚠️ fork/extension) for the Franka research arm.
“LeRobot extension for the <a href="https://franka.de/">Franka</a> research arm”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
The ⚠️ marker means fork/extension, not drop-in plugin.
“⚠️ marks projects that are forks/extensions of LeRobot. They may require custom setup rather than working with an unmodified install.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Franka FR3 spec: payload 3 kg, repeatability <±0.1 mm, 7 DoF, 7 torque sensors.
“Payload 3 kg Reach 855 mm Workspace efficiency 94.5 % Position repeatability <± 0.1 mm Degrees of freedom 7”
https://franka.de/franka-research-3 - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
franka_ros2: ROS 2 integration for Franka research robots, FR3 MoveIt config.
“ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true”
https://github.com/frankarobotics/franka_ros2/blob/4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec/README.md