Software installation

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Repository setup

VLA-REPLICA utilizes a simple Python script for benchmarking as well as the LeRobot library for SO-101 control.

GPU VRAM usage is heavy during inference, especially for more complex VLAs like pi0.5, so a GPU with at least 24GB VRAM is recommended.

Clone the repository, create a new virtual environment (recommended) and install prequisites listed in the environments.yml file:

git clone https://github.com/IRVLUTD/VLAReplica.git
cd VLAReplica
conda env create -f environment.yml
conda activate vlareplica

Detect camera and USB indices

Since the camera indices on every computer can vary, utilize leRobot's find-cameras command to list out the corresponding index numbers for the RealSense and Vinmooog cameras (run in terminal):

lerobot-find-cameras

Record the camera indices for two cameras.

Since the USB serial port on every computer can vary, utilize leRobot's find-port command to list out the corresponding serial port of the SO-101 follower arm. Run the following command in a terminal:

lerobot-find-port

and then unplug the SO-101 USB cable from the computer, and then press Enter.

The terminal will output something like: Device port: /dev/ttyACM1.

Record the serial port (e.g. /dev/ttyACM1) for the follower arm.

Next Step: System Calibration ➜