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

LeIsaac 🚀

https://github.com/user-attachments/assets/763acf27-d9a9-4163-8651-3ba0a6a185d7

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

🤖 We use SO101Follower as the robot (and other related robot) in IsaacLab and provide relevant teleoperation method.
🔄 We offer scripts to convert data from HDF5 format to the LeRobot Dataset.
🧠 We utilize simulation-collected data to fine-tune GR00T N1.5 and deploy it on real hardware. And more policies will be supported.

[!TIP] Welcome to the Lightwheel open-source community!

Join us, contribute, and help shape the future of AI and robotics. For questions or collaboration, contact Zeyu or Yinghao.

News 🗞️

[26/04/14] Remote teleoperation is now available in LeIsaac! Try it out here.
[26/03/10] With the new datagen module, LeIsaac can generate motion trajectories programmatically. See State Machine Data Generation.
[26/01/16] Added inference support for GR00T N1.6; details are in Available Policy Inference.
[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

Getting Started 📚

Please refer to our documentation to learn how to use this repository. Follow these links to learn more about:

Contributing 🤝

Please see CONTRIBUTING.md for how to report issues and submit pull requests.

Citation 📝

If you use leisaac, please cite it as follows.

@software{Lightwheel_and_LeIsaac_Project_Developers_LeIsaac_2025,
author = {{Lightwheel} and {LeIsaac Project Developers}},
license = {Apache-2.0},
month = dec,
title = {{LeIsaac}},
url = {https://github.com/LightwheelAI/leisaac},
version = {0.4.0},
year = {2026}
}

Acknowledgements 🙏

We gratefully acknowledge IsaacLab and LeRobot for their excellent work, from which we have borrowed some code.

Join Our Team! 💼

We're always looking for talented individuals passionate about AI and robotics! If you're interested in:

🤖 Robotics Engineering: Working with cutting-edge robotic systems and teleoperation
🧠 AI/ML Research: Developing next-generation AI models for robotics
💻 Software Engineering: Building robust, scalable robotics software
🔬 Research & Development: Pushing the boundaries of what's possible in robotics

Join us at Lightwheel AI! We offer:

Competitive compensation and benefits
Work with state-of-the-art robotics technology
Collaborative, innovative environment
Opportunity to shape the future of AI-powered robotics

Apply Now → | Contact Now → | Learn More About Us →

Let's build the future of robotics together! 🤝