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Add LeIsaac + Cosmos + IDM tutorial - #108
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EverNorif merged 9 commits intoJan 13, 2026
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* Add LeIsaac + Cosmos + IDM tutorial (#108) * Add LeIsaac + Cosmos + IDM tutorial * add tutorial doc. * fix docs. * Add lerobot2isaaclab converter(feature:cosmos+IDM) * Update cosmos_tutorial.md * Update Cosmos tutorial and merge utilities * Refine lerobot2isaaclab converter and cosmos merge utility * Apply isort import ordering * Add LeIsaacXCosmos docs --------- Co-authored-by: EverNorif <1320346985@qq.com> * Replace video links in cosmos_tutorial.md Updated video links in the Cosmos tutorial for accuracy. --------- Co-authored-by: Yunze Li <167320956+chuchen0210@users.noreply.github.com>
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* Add LeIsaac + Cosmos + IDM tutorial (LightwheelAI#108) * Add LeIsaac + Cosmos + IDM tutorial * add tutorial doc. * fix docs. * Add lerobot2isaaclab converter(feature:cosmos+IDM) * Update cosmos_tutorial.md * Update Cosmos tutorial and merge utilities * Refine lerobot2isaaclab converter and cosmos merge utility * Apply isort import ordering * Add LeIsaacXCosmos docs --------- Co-authored-by: EverNorif <1320346985@qq.com> * Replace video links in cosmos_tutorial.md Updated video links in the Cosmos tutorial for accuracy. --------- Co-authored-by: Yunze Li <167320956+chuchen0210@users.noreply.github.com>
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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.