Post-Training Isaac GR00T N1.5 for LeRobot SO-101 Arm
This blog post presents a step-by-step tutorial on fine-tuning NVIDIA's Isaac GR00T N1.5, an open foundation model for humanoid robot reasoning, for the LeRobot SO-101 robot arm. It covers dataset preparation, configuration, and training using the EmbodimentTag system. The tutorial uses a table cleanup task as an example, showing how to adapt the model to a new embodiment. The post includes links to the technical blog and code repository.
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