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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.
  • 🦾 State machine scripted policies enable fully automated data collection without human teleoperation.
  • 🔄 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.