# Post-Training Isaac GR00T N1.5 for LeRobot SO-101 Arm

DevFeed: [Post-Training Isaac GR00T N1.5 for LeRobot SO-101 Arm](<https://devfeed.tech/articles/post-training-isaac-gr00t-n1-5-for-lerobot-so-101-arm-7381.md>)

Original publisher: [Read original article](<https://huggingface.co/blog/nvidia/gr00t-n1-5-so101-tuning>)

Author: You Liang Tan; Fengyuan Hu; Oyindamola Omotuyi; Oluwaseun Doherty; Chitoku Yato; Shane Reetz

Published: 2025-06-11T18:27:22Z

Content type: tutorial

Language: en

Sources: [Hugging Face - Blog](<https://devfeed.tech/sources/hugging-face-blog.md>)

Topics: [Isaac](<https://devfeed.tech/topics/isaac.md>), [post-training](<https://devfeed.tech/topics/post-training.md>), [lerobot](<https://devfeed.tech/topics/lerobot.md>), [Fine-tuning](<https://devfeed.tech/topics/fine-tuning.md>), [foundation-models](<https://devfeed.tech/topics/foundation-models.md>), [datasets](<https://devfeed.tech/topics/datasets.md>), [multimodal](<https://devfeed.tech/topics/multimodal.md>), [Open Source](<https://devfeed.tech/topics/open-source.md>), [Python](<https://devfeed.tech/topics/python.md>), [Terminal](<https://devfeed.tech/topics/terminal.md>)

Tags: [data](<https://devfeed.tech/tags/data.md>), [fine-tuning](<https://devfeed.tech/tags/fine-tuning.md>), [foundation-models](<https://devfeed.tech/tags/foundation-models.md>), [hardware](<https://devfeed.tech/tags/hardware.md>), [isaac](<https://devfeed.tech/tags/isaac.md>), [lerobot](<https://devfeed.tech/tags/lerobot.md>), [open-source](<https://devfeed.tech/tags/open-source.md>), [post-training](<https://devfeed.tech/tags/post-training.md>), [python](<https://devfeed.tech/tags/python.md>), [robots](<https://devfeed.tech/tags/robots.md>), [training](<https://devfeed.tech/tags/training.md>), [tutorial](<https://devfeed.tech/tags/tutorial.md>)

## AI overview

This tutorial demonstrates how to post-train, or fine-tune, NVIDIA Isaac GR00T N1.5 for a LeRobot SO-101 robot arm using teleoperation data. It covers dataset preparation, GR00T compatibility, installation prerequisites, and running the fine-tuning workflow, with a default requirement of approximately 25 GB of VRAM.

## Source excerpt

NVIDIA Isaac GR00T (Generalist Robot 00 Technology) is a research and development platform for building robot foundation models and data pipelines, designed to accelerate the creation of intelligent, adaptable robots. Today, we announced the availability of Isaac GR00T N1.5, the first major update to Isaac GR00T N1, the world's first open foundation model for generalized humanoid robot reasoning and skills.