System Overview

Anvil provides a complete, composable, and production-ready software stack that powers every aspect of robot operation. It provides real-time control, teleoperation, data collection, AI training, and fleet monitoring. Every component is tightly integrated and optimized to work seamlessly with Anvil hardware.

Each part of the stack, from operating system to AI tooling, is engineered to work together to deliver:

• Reliable control

• Intuitive teleoperation

• Built-in AI capabilities

• Production-grade system observability

The Anvil Software Stack can be broken down into several layers:

• Robot Hardware Support Package Each Anvil Devbox runs a carefully configured Linux operating system based on Ubuntu 24.04 LTS, optimized for deterministic performance, hardware reliability, and stable communication with actuators, cameras, and sensors. This is analogous to the BSP (Board Support Package) bundled with smartphones or other consumer electronics devices.

• Real-Time Robot Control This layer implements the real-time control loops responsible for translating operator intent and physical AI policy outputs into smooth, safe robot motion. It includes high-frequency control, gravity compensation for natural responsive motion, and velocity-aware motion execution to improve robot safety.

• Teleoperation & Data Collection Anvil’s teleoperation stack converts human motion into precise robot movement using advanced tracking and inverse kinematics. This includes real-time Quest controller pose tracking, an advanced inverse kinematics engine, and natural, intuitive robot behavior mapping.

• Data Collection and AI Enablement Layer Anvil's local web app makes it easy to collect episodic demonstration data and use it to train AI models that enable autonomous robot behavior. Anvil also provides open-source examples demonstrating the full AI workflow: collecting demonstration data, training models using frameworks like LeRobot, and deploying trained models to run live on Anvil hardware.

• Cloud Observability and Monitoring Layer Every Anvil workcell includes built-in diagnostics, enabling Anvil to monitor system health and any system crashes that are encountered. Anvil can also provide rapid support and troubleshooting from anywhere, accelerating issue resolution and increasing workcell uptime.