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verifiedsource · paperenv · pi0 paper Franka eval (pick / pour / fold subset)
Franka Research 3×pi0 base
Franka Robotics · LeRobot · lerobot
Evidence
- Success rate
- 85.0%
- Episodes tested
- 300
- Updated
- 2026-04-20
Notes
Canonical exemplar. pi0 is Physical Intelligence's flow-matching VLA; Franka Research 3 is its primary research-arm target. Highest success rate on this list and the cleanest paper-to-prod path — the LeRobot port replays the paper's evaluation slice directly.
Gaps noted
- · Reported numbers cover the ALOHA-style observation space (3 cameras + proprio). Single-camera deployment lands ~10 points lower in the paper's ablation.
Robot · Franka Research 3
Franka Research 3, 7-DoF torque-controlled research arm. Successor to Franka Emika Panda. De facto manipulation-research standard.
Policy · pi0 base
Physical Intelligence pi0 vision-language-action base policy. 3.5B params, trained on cross-embodiment manipulation data. Strong baseline for dexterous manipulation including fold-laundry.