📄️ Add Custom Task
This tutorial walks you through adding a custom task and environment in LeIsaac so you can build a variety of tasks based on it.
📄️ LeIsaac × Marble
This tutorial walks you through how to integrate Marble-Generate scenes into LeIsaac, allowing you to build and evaluate diverse embodied tasks across large-scale generalized environments.
📄️ LeIsaac × Cosmos
This tutorial extends LeIsaac by integrating Cosmos-Predict2.5 and GR00T-Dreams IDM into a LeIsaac-native data generation loop. LeIsaac is used to collect teleoperated demonstrations (HDF5) and convert them into LeRobot datasets. Cosmos-Predict 2.5 is post-trained on these videos to synthesize additional rollout videos at scale, and IDM is fine-tuned on the same dataset to infer robot actions from the generated videos. Together, this produces a scalable pipeline for constructing synthetic, complete LeRobot datasets , which can be replayed and evaluated directly in LeIsaac.