Franka Research 3×octo-small-1.5

Evidence

Success rate

71.0%

Episodes tested

150

Updated

2026-04-20

https://arxiv.org/abs/2405.12213

Notes

Octo-Small (27M params) trained on Open-X-Embodiment then evaluated on Franka in-domain tasks. Lighter inference cost than OpenVLA at the cost of a few points of success rate.

Gaps noted

• · Octo-Small is a transformer-only baseline; pairing with Franka uses joint-position control. Real-world torque-mode behavior not measured.

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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