Dual-Arm Franka

Dual-Franka robot platform.

This section collects RLinf workflows for dual-Franka data collection, supervised fine-tuning, deployment, and DAgger training.

Collect-SFT-Deploy

Collect GELLO demonstrations, convert data, fine-tune a policy, and deploy it.

Using Dual Franka

Collect-SFT-Deploy (RLinf-pytorch)

Fine-tune and deploy a dual-Franka policy with OpenPI PyTorch.

Using Dual Franka with OpenPI PyTorch

HG-DAgger via VR

Collect dual-arm PICO data and run online human-gated DAgger.

Dual Franka PICO Collection and DAgger