LeRobot A1XY integration

Planned LeRobot integration for a Galaxea A1X follower and a Star Arm 102-LD leader. The current home hardware is one A1X and one leader. This repository does not yet contain a working LeRobot plugin, leader driver, recording command or training implementation.

The repository split found no existing LeRobot code to move. Native arm communication is already implemented in a1xy-sdk; camera teleoperation and the application lifecycle remain in a1xy-teleop. The research study belongs to a1xy-vlm-vla.

Implementation boundary

Use a1xy-sdk for wire encoding and transport. Do not copy its protocol implementation or depend on the teleop web server. This repo should own LeRobot-facing configuration, observations/actions, leader mapping, camera synchronization and dataset recording.

The first implementation needs a verified follower lifecycle and measured calibration. The SDK's raw transport is not a safe motion controller. Reuse or extract the validated application lifecycle deliberately before allowing follower actions; do not bypass its freshness and startup checks.

See integration contract for the next bounded steps. No LeRobot version or Star Arm electrical protocol is assumed until the actual hardware and upstream API are inspected. There is no installable package or runnable training command in this repository yet.

Development layout

projects/a1xy/
  a1xy-sdk/
  a1xy-teleop/
  lerobot-a1xy/
  a1xy-vlm-vla/

Keep datasets, videos, checkpoints, credentials and machine-specific calibration out of Git. Review licensing before public redistribution; this initial repository grants no new license.