You need to set the IP address on Spykee to a known address (something like 192.168.1.10) using the included Spykee software. Then you can connect to it using the Android phone on the same local WiFi network.
You currenty need a trackball or Dpad to move the robot. I plan to add on-screen controls in a future version for phones that just have a touchscreen.
Audio in works (from Spykee to the phone) but audio out is currently not supported. I plan to add that in a future version.
The source is open source and is available at http://code.google.com/p/spykee-remote/