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Introduction

LeIsaac provides teleoperation functionality in IsaacLab using the SO101Leader (LeRobot), including data collection, data conversion, and subsequent policy training.

  • 🤖 We use the SO101 Follower robot (and other related robot) in IsaacLab and provide practical teleoperation methods.
  • 🔄 Ready-to-use scripts convert HDF5 data into the LeRobot dataset format.
  • 🧠 Simulation data is used to fine-tune GR00T N1.5 and deploy the policy on real hardware. And more policies will be supported.

News​

  • [26/01/13] Try our tutorial LeIsaac x Cosmos to get a video2action data generation pipeline.
  • [26/01/12] Extra feature of lerobot recorder integration released! You can now record data directly in LeRobot Dataset format during teleoperation.
  • [25/12/19] Try our tutorial LeIsaac x Marble to build and evaluate diverse embodied tasks across large-scale generalized environments.
  • [25/12/19] We now support lekiwi-based teleoperation and provide a Loft scene for the community. See the example task here.
  • [25/11/27] We now support more teleoperation devices, including the enhanced keyboard and gamepad. Refer to the device guide for usage details.
  • [25/11/26] LeIsaac is now the official imitation-learning (IL) simulation playground integrated into LeRobot’s EnvHub. It provides fast, scalable Isaac-based environments designed for imitation learning, control, and policy evaluation. It is featured in LeRobot: LeIsaac × LeRobot EnvHub