Example Workflows

Use these workflows after hardware and software setup are complete.

  1. Teleoperation and Data Collection
  2. Dataset Conversion and Upload
  3. CHTC Fine-tuning
  4. Policy Deployment
  5. Troubleshooting

Fast Path: Run Existing Policy Only

If you do not need to collect data or fine-tune:

  1. Start the OpenPI policy server on the 4090.
  2. Start the DROID low-level server on the NUC.
  3. Run scripts/main.py on the control laptop.
  4. Enter the natural-language instruction when prompted.