System Requirements
The following section describes the host configuration, robot hardware, and operating system requirements needed to install and run this system correctly.
Host platforms
| Hardware Platform | CPU / GPU | Training | Data Collection (Sim) | Data Collection (Real) | Inference |
|---|---|---|---|---|---|
| AIR-420 | AMD RYZEN 7000 NVIDIA RTX™ PRO 6000 | ✓ | ✓ | ✓ | ✓ |
| AIMB-294 | Jetson Thor | ✓ | ✓ | ✓ | |
| ASR-702 | Jetson Thor | ○ | ○ | ○ | |
| AIR-030 | Jetson AGX Orin | ○ | ○ | ||
| ARK-1251 | Core Ultra 7 155H | ○ | ○ | ||
| ARK-3530L | Xeon E3-1235L | ✓ | ✓ | ||
| AFE-R360 | Core Ultra 7 155H | ✓ | ✓ |
- ✓ Verified on hardware.
- ○ Viable by specification, not yet verified on hardware.
- A blank entry indicates that the platform does not support the item.
Only the AIR-420 carries a discrete graphics card, and it is the sole platform verified for simulation data collection (SDG). The simulation environment is not deployed as part of the installation flow and must be built separately; see Optional: building the simulation environment. The Jetson family (Thor / Orin) is aarch64; the remainder are x86_64.
Robotic arms
The system performs demonstration recording and inference using physical robotic arms. The following two families are currently supported:
| Family | Origin | Connection |
|---|---|---|
| SO-101 | LeRobot open-source community design (Feetech servos) | One USB serial cable each for Leader / Follower |
| OpenMANIPULATOR-X (OMX) | ROBOTIS (Dynamixel smart servos) | OpenRB-150 control board |
The number of arms required varies by usage scenario:
| Scenario | Leader Arm (operator side) | Follower Arm (execution side) |
|---|---|---|
| Physical recording | Required | Required |
| Simulation recording (SDG) | Required | Not required (the execution side is virtual) |
| Inference | Not required | Required |
The two families differ in calibration requirements and setup procedure; for the initial setup, see Hardware Integration & Calibration.
Cameras
The platform supports any camera capable of outputting a standard image stream, including general-purpose USB webcams and the Intel RealSense series, with no vendor restriction. A two-camera configuration of Wrist and Top viewpoints is recommended; for placement principles, see Camera Setup & Management.
Architecture and operating system
- Processor architecture: x86_64 (amd64) and aarch64 (arm64). Intel platforms and NVIDIA platforms with a discrete graphics card fall under the former; NVIDIA Jetson platforms (Thor / Orin) fall under the latter.
- Operating system: Ubuntu 22.04 or later
The difference between platforms affects only the components required prior to installation; see Installation and Activation.
Storage
- At least 100GB (TBD) of available storage for installation files, datasets, models, and intermediate files.
- A further 35GB is required where the simulation environment is used, to hold the
pait/simulationimage; see Optional: building the simulation environment.
Next: Installation.