Inference configurations for OpenArm with dora-rs

This repository provides inference configurations for OpenArm with dora-rs.

Configurations

Real configuration

Real Robot Example will be added in the near future. Stay tuned!

Simulation configuration

Local Inference

set up the local policy server:

uv venv .venv_server
source .venv_server/bin/activate
uv pip install lerobot==0.3.3 pyarrow
# uv pip install torch torchvision torchaudio --torch-backend=cu128 --upgrade  # for CUDA 12.8
python src/local_policy_server.py /dev/shm/policy-server.socket

in another terminal, run the dataflow

uv venv .venv -p 3.12
uv pip install dora-rs-cli
source .venv/bin/activate
dora build dataflow-local-inference.yaml --uv
SOCKET=/dev/shm/policy-server.socket dora run dataflow-local-inference.yaml --uv

Docker Inference

Build the Docker image:

docker build -t openarm-inference-image-lerobot:latest .

Run the dataflow.

dora build dataflow-docker-inference.yaml --uv
dora run dataflow-docker-inference.yaml --uv

License

Licensed under the Apache License 2.0. See LICENSE for details.

Copyright 2026 Enactic, Inc.

Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.