Briefing
LeRobot's numpy dependency would not run on the author's Python 3.14 under Windows 11. Claude Code wrote teleoperation, data-collection and inference scripts instead, talking to the motors through pyserial and the servo SDK. It kept project notes in memory files across sessions. Fine-tuning ran 10,000 steps in about 5.5 hours on the DGX Spark.
Two problems came up on the real arm. Inference over Tailscale ran at about 15 Hz against 30 Hz in training; the fix was to connect the robot to the Spark and run inference there. The arm then hesitated near the cup until the camera went back to its training position.
Written by the Boards & Bots curator