Single-Arm Franka

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

Start with Real-World RL to set up a single-arm Franka and train a policy. Then choose a guide for teleoperation, data collection, deployment, or hardware extensions.

Real-World RL

Set up a single-arm Franka, collect demonstrations, and run online RL training.

Real-World RL with Franka

GELLO Collection

Collect joint-level teleoperation data with GELLO.

Using GELLO with Franka

VR Teleoperation

Use VR / PICO devices for teleoperation.

Real-World Franka with VR Teleoperation

Collection / SFT / Deployment

Collect demonstrations, fine-tune π₀, and deploy the policy on Franka.

Running Pi0 SFT with Franka

HG-DAgger

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

Using HG-DAgger with Franka

Reward Model

Train Franka with a learned reward model.

Using Reward Models with Franka

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