Copy bootcode.bin, start.elf, build/aarch64/raspi3/dist/cmdline.txt to a SD card (FAT32)
Rename build/aarch64/raspi3/dist/ArvernOS-aarch64-raspi3.img to kernel8.img and copy it to the SD card as well
Insert the card into the Raspberry Pi SD card slot
Connect a USB to serial adapter (FTDI) between the Raspberry Pi and a host machine ^1 that will run minicom or any other serial communication program. The serial configuration is: 112500 8N1.