Franka Research 3×openvla-7b

Evidence

Success rate

77.0%

Episodes tested

200

Updated

2026-04-20

https://arxiv.org/abs/2406.09246

Notes

OpenVLA-7B fine-tuned from Llama-2 + DINOv2 + SigLIP, evaluated zero-shot on BridgeData V2's Franka split. Strong baseline for cross-embodiment manipulation; the paper explicitly tests transfer to a Franka Research arm distinct from the training mix.

Gaps noted

• · Numbers from the OpenVLA paper's BridgeData V2 evaluation slice — generalization to non-Bridge tasks is not measured here.
• · No language-grounded long-horizon evaluation; success rate aggregates short-horizon pick / push / open primitives.

Robot · Franka Research 3

Franka Research 3, 7-DoF torque-controlled research arm. Successor to Franka Emika Panda. De facto manipulation-research standard.

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