AR4 Physical-AI
ArchitectureResearchPID Tuning
Workflows

Real Hardware

Connect the AR4 arm via USB before running these commands.

# Start hardware driver (calibrates automatically) + MoveIt
docker compose --profile hardware up

Calibration runs on startup. The arm steps through each joint and finds the limit switches. Keep clear of the arm during this.

To skip calibration if the arm is already homed:

CALIBRATE=False docker compose --profile hardware up

Record on real hardware

# Hardware must already be running
TASK="pick the teal cube" docker compose run --rm record

Inference on real hardware

# Hardware must already be running — auto-selects the latest checkpoint
USE_SIM_TIME=false docker compose run --rm smolvla
 
# Or pin a specific checkpoint
USE_SIM_TIME=false \
SMOLVLA_CHECKPOINT=/data/checkpoints/smolvla_ar4/checkpoints/040000/pretrained_model \
  docker compose run --rm smolvla

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