VLA Robot Arm

This project implements a custom robotic arm setup based on SmolVLA. Our custom 1-DOF robotic arm uses the LeRobot library for data collection and SmolVLA as its base model. We use the Meta Project Aria Gen 1 Glasses as our vision system, for which I wrote a camera handler to undistort, crop, and stream video into my custom SmolVLA recording/inference pipeline. The arm is controlled by an Arduino Uno, which communicates with the Python script through custom firmware over a custom motor bus and communication protocol. I built a teleoperation recorder to log camera frames, servo angles, and tasks to curate labeled dataset for model fine-tuning. I also implemented an autonomous action inference loop that parses inputs and issues live servo commands to complete tasks. Key features: - Custom 1-DOF robotic arm - LeRobot library for data collection - SmolVLA as base model - Meta Project Aria Gen 1 Glasses for vision system - Arduino Uno for control - Custom motor bus and communication protocol - Teleoperation recorder for dataset collection - Autonomous action inference loop