[Feature Request] Automatic Data Generation Pipeline

[Papaercold]

Motivation

Following the discussion with Zeyu, I propose enabling automatic data generation for LeIsaac. This will allow us to generate task executions, trajectories, and structured datasets directly from simulation, rather than relying solely on manual demonstrations.

Implementation Plan

I will start migrating the core auto-generation logic from so101-autogen to LeIsaac.

Key Goals:

• Enable large-scale synthetic dataset generation.
• Support Hybrid IL + RL pipelines.
• Accelerate iteration on new tasks.

Status: I am starting the code migration now.

[Papaercold]

I’m basically done. Right now I’m doing the final tweaks and refactoring of the data generation state machine. I’ll open a PR once it’s finished.