Previously I mentioned a similar project that used a python daemon to talk to an Android app to remotely control the Pi. Well there’s always more than one way of doing things. As with the other project, the implementation on this one is a little different.
First off you have your Android app (which is available on the Google Play store here). Next you have the server piece (available here, with instructions and demonstrations) that runs on your Pi. The Android app connects to the Pi via SSH (over WIFI usually) and executes the pre-configured actions that you have assigned to with your Android application.
It currently has the ability to control and monitor GPIO, talk via I2C, manage processes, and stream video via MJPEG. According to the site they are busy adding more features such as XBMC support, and voice control.