diff --git a/examples/gr00t_n1_5/README.md b/examples/gr00t_n1_5/README.md
index cc5074cc21..fe7c117d16 100644
--- a/examples/gr00t_n1_5/README.md
+++ b/examples/gr00t_n1_5/README.md
@@ -24,8 +24,28 @@ Install FlagScale and robotics dependencies:
 
 ```sh
 cd FlagScale/
-# replace "[cuda-train]" with "[ascend-train]" on Huawei Ascend, or "[musa-train]" on Moore Threads MUSA
+# For NVIDIA CUDA training
 pip install ".[cuda-train]" --verbose
+
+# For NVIDIA CUDA serving
+pip install ".[cuda-serve]" --verbose
+
+# Replace [cuda-train] in the training command above with [ascend-train]
+# on Huawei Ascend, or [musa-train] on Moore Threads MUSA.
+```
+
+GR00T N1.5 requires FFmpeg runtime libraries for `torchcodec`.
+Install FFmpeg before running training or dataset preprocessing.
+
+Install FFmpeg using one of the following options:
+
+```sh
+# Using conda
+conda install -c conda-forge ffmpeg
+
+# Or on Ubuntu/Debian
+sudo apt-get update
+sudo apt-get install -y ffmpeg
 ```
 
 Install additional dependencies for downloading models/datasets:
diff --git a/requirements/ascend/serve.txt b/requirements/ascend/serve.txt
index c2ef02f201..0587d5987a 100644
--- a/requirements/ascend/serve.txt
+++ b/requirements/ascend/serve.txt
@@ -2,6 +2,9 @@
 
 -r ./base.txt
 
+# for robotics
+peft==0.18.1
+
 # FlagTree for Ascend (extra index so PyPI remains available for build deps)
 # [--extra-index-url https://resource.flagos.net/repository/flagos-pypi-hosted/simple]
 flagtree==0.4.0+ascend3.2
diff --git a/requirements/cuda/serve.txt b/requirements/cuda/serve.txt
index 50bfd806e2..40c32116cb 100644
--- a/requirements/cuda/serve.txt
+++ b/requirements/cuda/serve.txt
@@ -1,6 +1,10 @@
 # serve-specific dependencies
 
 -r ./base.txt
+
+# for robotics
+peft==0.18.1
+
 vllm @ https://resource.flagos.net/repository/flagos-pypi-hosted/packages/vllm/0.13.0%2Bfl.0.1.cu128.g72506c983/vllm-0.13.0%2Bfl.0.1.cu128.g72506c983-cp312-cp312-linux_x86_64.whl
 
 # support 0.5b_multiple_instance ci test
diff --git a/requirements/cuda/train.txt b/requirements/cuda/train.txt
index d700b0e60b..7a864ac23e 100644
--- a/requirements/cuda/train.txt
+++ b/requirements/cuda/train.txt
@@ -4,4 +4,10 @@
 sentencepiece==0.2.1
 transformers==4.57.6
 tiktoken==0.12.0
+
+# for robotics
+peft==0.18.1
+torchcodec==0.8.1
+flash-attn @ https://github.com/Dao-AILab/flash-attention/releases/download/v2.8.1/flash_attn-2.8.1+cu12torch2.9cxx11abiTRUE-cp312-cp312-linux_x86_64.whl
+
 megatron_core @ https://resource.flagos.net/repository/flagos-pypi-hosted/packages/megatron-core/0.16.0rc0/megatron_core-0.16.0rc0-cp312-cp312-linux_x86_64.whl