So I recently decided to upgrade to Wordpress 2.1 (was running Wordpress 1.5.1.3). I was able to do it rather painlessly, so I figured I'd share just in case others wanted to know.
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Go grab the Wordpress XML Export . Follow the instructions to put wp-xmlmigrate.php into your wp-content/plugins/ directory
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Open up wp-xmlmigrate.php and head to line 196 or so to the export_cat_list() method
$cats = $wpdb->get_results("SELECT cat_ID, cat_name, category_nicename, category_description, category_parent, 14 as category_count
FROM $wpdb->categories
WHERE cat_ID > 0
ORDER BY cat_name");
See that bit above '14 as category_count' ? Change that 14 to the number of categories you have in your 1.5.1.3 blog and put that number there.
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From Manage -> WP Export select the categories you want to export, then click the 'Download export file' button.
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In your 2.1 blog under Manage -> Import , select wordpress then browse for the xml file you created in step 3.
Tada. You're done.