Single-Arm Franka

A single-arm Franka platform for real-world RL, data collection, and policy deployment.

This section collects RLinf real-world reinforcement learning workflows for a single-arm Franka setup.

ZED + Robotiq

Use ZED cameras and Robotiq grippers.

Using ZED + Robotiq with Franka

Dexterous Hand

Drive a Franka with a dexterous hand end-effector.

Using Dexterous Hand with Franka

Collect-GELLO

Collect joint-level teleoperation data with GELLO.

Using GELLO with Franka

Collect-VR

Use VR / PICO devices for teleoperation.

Real-World Franka with VR Teleoperation

HG-DAgger

Collect interventions and improve a Franka policy with online human-gated DAgger.

Using HG-DAgger with Franka

Collect-SFT-Deploy

Deploy a π₀ SFT policy on Franka.

Running Pi0 SFT with Franka

Real-World RL

Configure a Franka setup, collect demonstrations, and run online RL training.

Real-World RL

Reward Model

Train Franka with a learned reward model.

Using Reward Model with Franka