I know of 2 robotics companies (both in Boston actually) that do the method I described.
Rudimentary google search about remote debugging for arm devices seemed to give helpful results:
http://janaxelson.com/eclipse1.htm
http://www.hertaville.com/remote-debugging.html
Nvidia is kind of trying to get into FIRST. (They sponsor a couple teams and give discounts). It wouldn't hurt to send a message to their rep on here so they could get you connected to people who know cuda c that could help you out. I do not know of any groups / forums you could ask for help on regarding this sadly.