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.

Getting Started 📚

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

• Installation and Setup
• Extra Features
• Policy Inference
• Available Robots, Environments and Policy

[!TIP]

For more features and updates, please refer to the News section on our website!

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! 🤝