Franka Emika Panda

Facts

Form: Single arm 2 Source
DoF: 7 2 Source
End effector: Franka Hand 平行夹爪 1 Source
SDK / ROS: frankarobotics.github.io ↗ 1 Source
Public price (CNY): 已停产，由 FR3 接替；官网未标价 0 Source
Data formats: libfranka / FCI · RLDS · LeRobot 0 Source

Sources · 3 sources

form,dof https://github.com/IPEC-PUBLIC/EO-1 Official page · Fetched 2026-09-04 · No snapshot stored yet EO-1 README 评测本体 Franka Panda

form https://github.com/PKU-EPIC/GraspVLA Official page · Fetched 2026-09-04 · No snapshot stored yet GraspVLA 基于 LeRobot Franka 数据集

dof,end_effector,sdk_url https://franka.de/products/franka-research-3 Official page · Fetched 2026-09-05 · No snapshot stored yet Franka Research 3 页面（Panda 后继型号，同 7 DoF / Franka Hand / libfranka）

Models declaring this form as a target

Vendor claims, not verified compatibility. Verified states appear in the matrix below.

LingBot-VLA 2.0 蚂蚁灵波科技 (Ant Group) Vendor-declared target form

π0 (pi-zero) Physical Intelligence Vendor-declared target form

π0.5 Physical Intelligence Vendor-declared target form

SmolVLA Hugging Face (LeRobot) Vendor-declared target form

OpenVLA Stanford / UC Berkeley / TRI 等（OpenVLA 团队） Vendor-declared target form

X-VLA 清华大学 AIR（2toINF） Vendor-declared target form

Octo UC Berkeley RAIL 等 Vendor-declared target form

RDT-1B 清华大学 TSAIL（thu-ml） Vendor-declared target form

CogACT Microsoft Research Vendor-declared target form

SpatialVLA 上海人工智能实验室等 Vendor-declared target form

UniVLA OpenDriveLab（香港大学等） Vendor-declared target form

MolmoAct Allen Institute for AI（Ai2） Vendor-declared target form

RynnVLA-001 阿里巴巴达摩院 Vendor-declared target form

InternVLA-M1 上海人工智能实验室 InternRobotics Vendor-declared target form

GraspVLA 北京大学 EPIC 实验室 / 银河通用 Vendor-declared target form

EO-1 IPEC-COMMUNITY（上海人工智能实验室系） Vendor-declared target form

NORA Declare Lab（新加坡科技设计大学） Vendor-declared target form

VLA-Adapter OpenHelix 团队 Vendor-declared target form

HPT（Heterogeneous Pre-trained Transformers） MIT（Lirui Wang, Kaiming He 等） Vendor-declared target form

LAPA KAIST / 华盛顿大学等（Latent Action Pretraining） Vendor-declared target form

LLaVA-VLA OpenHelix 团队 Vendor-declared target form

RoboVLMs（KosMos P.H.）清华大学 / 字节跳动 Research / 中科院自动化所等 Vendor-declared target form

Magma-8B Microsoft Research Vendor-declared target form

V-JEPA 2-AC Meta FAIR Vendor-declared target form

GR-1 字节跳动 Research Vendor-declared target form

Spirit v1.5 千寻智能（Spirit AI） Vendor-declared target form

Galaxea G0.5 星海图（Galaxea） Vendor-declared target form

InternVLA-A1.5 上海人工智能实验室 InternRobotics Vendor-declared target form

VLA-0 NVIDIA Research Vendor-declared target form

MiniVLA Stanford ILIAD Vendor-declared target form

GR00T N1.5 3B NVIDIA Vendor-declared target form

Compatibility on this embodiment

	Franka Emika Panda
Isaac GR00T N1.7
GR00T N1.6 3B
LingBot-VLA 2.0
GO-1 (Genie Operator-1)
π0 (pi-zero)
π0.5
SmolVLA
OpenVLA
X-VLA
Octo
RDT-1B
CogACT
SpatialVLA
UniVLA
MolmoAct
RynnVLA-001
WALL-OSS
InternVLA-M1
GraspVLA
Being-H0
EO-1
LingBot-VLA 4B
NORA
VLA-Adapter
HPT（Heterogeneous Pre-trained Transformers）
LAPA
LLaVA-VLA
RoboVLMs（KosMos P.H.）
Magma-8B
V-JEPA 2-AC
DexVLA
GR-1
Spirit v1.5
Galaxea G0.5
RDT2-VQ
InternVLA-A1.5
VLA-0
MiniVLA
Genie Envisioner（GE-Act）
GR00T N1.5 3B

Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 24 / 40 cells with a definite status

Clear direction, grounded judgement.