Try this in a Terminal:
mkdir /tmp/lua
cd /tmp/lua
# Download and build lua 5.1.4 for armv7 and i386
tar xvfz lua-5.1.4.tar.gz
cd lua-5.1.4
mkdir -p ios-armv7
bash -c 'cd ios-armv7 && xcrun clang -arch armv7 -mthumb -c -O2 -Wall -DLUA_USE_LINUX -miphoneos-version-min=5.0 -isysroot $(xcode-select -print-path)/Platforms/iPhoneOS.platform/Developer/SDKs/iPhoneOS7.0.sdk ../src/lapi.c ../src/lcode.c ../src/ldebug.c ../src/ldo.c ../src/ldump.c ../src/lfunc.c ../src/lgc.c ../src/llex.c ../src/lmem.c ../src/lobject.c ../src/lopcodes.c ../src/lparser.c ../src/lstate.c ../src/lstring.c ../src/ltable.c ../src/ltm.c ../src/lundump.c ../src/lvm.c ../src/lzio.c ../src/lauxlib.c ../src/lbaselib.c ../src/ldblib.c ../src/liolib.c ../src/lmathlib.c ../src/loslib.c ../src/ltablib.c ../src/lstrlib.c ../src/loadlib.c ../src/linit.c'
ar rcu ios-armv7/liblua.a ios-armv7/*.o
mkdir -p ios-i386
bash -c 'cd ios-i386 && xcrun clang -arch i386 -c -O2 -Wall -DLUA_USE_LINUX -miphoneos-version-min=5.0 -isysroot $(xcode-select -print-path)/Platforms/iPhoneSimulator.platform/Developer/SDKs/iPhoneSimulator7.0.sdk ../src/lapi.c ../src/lcode.c ../src/ldebug.c ../src/ldo.c ../src/ldump.c ../src/lfunc.c ../src/lgc.c ../src/llex.c ../src/lmem.c ../src/lobject.c ../src/lopcodes.c ../src/lparser.c ../src/lstate.c ../src/lstring.c ../src/ltable.c ../src/ltm.c ../src/lundump.c ../src/lvm.c ../src/lzio.c ../src/lauxlib.c ../src/lbaselib.c ../src/ldblib.c ../src/liolib.c ../src/lmathlib.c ../src/loslib.c ../src/ltablib.c ../src/lstrlib.c ../src/loadlib.c ../src/linit.c'
ar rcu ios-i386/liblua.a ios-i386/*.o
lipo -create ios-armv7/liblua.a ios-i386/liblua.a -output ../liblua.a
cd ..
# Download and build luajava 1.1 for armv7 and i386
tar xvfz luajava-1.1.tar.gz
cd luajava-1.1
make luajava-1.1.jar
cp luajava-1.1.jar ..
javah -o src/c/luajava.h -classpath luajava-1.1.jar org.keplerproject.luajava.LuaState
xcrun clang -arch i386 -c -miphoneos-version-min=5.0 -isysroot $(xcode-select -print-path)/Platforms/iPhoneSimulator.platform/Developer/SDKs/iPhoneSimulator7.0.sdk -Isrc/c/ -I$(/usr/libexec/java_home)/include -I$(/usr/libexec/java_home)/include/darwin -I../lua-5.1.4/src/ src/c/luajava.c -o luajava-i386.o
xcrun clang -arch armv7 -c -miphoneos-version-min=5.0 -isysroot $(xcode-select -print-path)/Platforms/iPhoneOS.platform/Developer/SDKs/iPhoneOS7.0.sdk -Isrc/c/ -I$(/usr/libexec/java_home)/include -I$(/usr/libexec/java_home)/include/darwin -I../lua-5.1.4/src/ src/c/luajava.c -o luajava-armv7.o
lipo -create luajava-i386.o luajava-armv7.o -output ../luajava.o
cd ..
You will now have liblua.a, luajava-1.1.jar and luajava.o in /tmp/lua. The JAR file should be added to your project's classpath. The .a and .o files have to be added to your robovm.xml file in a <libs> section:
<libs>
<lib>liblua.a</lib>
<lib>luajava.o</lib>
</libs>
Let me know how it works out.