Candy ShopA LiveKit voice agent runs a candy shop on a leslider — an SO-101 arm on a linear slider. Ask for a candy and it drives the whole errand: move_to slides the arm to the shelf by closed-loop vision, a policy picks the candy while a SARM reward model watches for the task to finish, then it carries the candy to the drop zone and looks at the overhead camera to confirm the hand-off.How Portal carries it ↗