NPU-only LLM/VLM inference on Allwinner A733 (Vivante VIP9000). Toolchain (ONNX → ACUITY → NBG), board bring-up, chat shell, benchmarks, and honest limits. SmolLM2-135M/360M + MobileCLIP-S0 on NPU; Qwen on CPU.
ROS 2 Humble CSI camera driver for IMX219 on Orange Pi Zero 3W / Allwinner A733 with direct V4L2 capture, CameraInfo publishing and optional Allwinner ISP 3A via AWIspApi
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