Akshay Parkhi's Weblog

How a VLA Controls a Robot Arm: GR00T N1.5 System Architecture from Camera to Motor

I’ve been building a robot arm system that uses NVIDIA’s GR00T N1.5 — a Vision-Language-Action (VLA) model — to pick up objects from a table using only a camera, natural language instructions, and 50 demonstration episodes. After getting it working end-to-end, I wanted to write down the full system architecture for anyone trying to understand how all the pieces connect.