i4h-workflow

name	i4h-workflow
version	0.6.0
description	Overview of `workflows/agentic/` (IsaacLab-Arena + GR00T/openpi). Use when the user asks what i4h workflow is, what's supported, or where to start.
license	Apache-2.0
metadata	{"author":"Isaac for Healthcare Team <[e-mail]>","tags":["isaac-for-healthcare","i4h","agentic-workflow","robotics","overview"]}

i4h Agentic Workflow

Purpose

Orient on the agentic workflow before touching a specific stage: which envs/robots/policies are supported, how the workflows/agentic/ subprojects fit together, and which per-stage skill to invoke next. This skill routes — it runs no pipeline stage itself.

# from repo root: confirm the workflow is set up, then jump to a stage skill
workflows/agentic/policy/run.sh --list-envs

Base Code

These steps drive the i4h-workflows base code (the workflows/agentic/ tree). To reuse an existing checkout, set I4H_WORKFLOWS to its path (no clone happens). Otherwise this resolves the current repo, or clones to ~/i4h-workflows — pick that default without prompting. Run every command below from the resolved root:

# Resolve the i4h-workflows base code (provides workflows/agentic/).
ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"
if [ ! -d "$ROOT/workflows/agentic" ]; then
  ROOT="${I4H_WORKFLOWS:-$HOME/i4h-workflows}"
  [ -d "$ROOT/workflows/agentic" ] || git clone https://github.com/isaac-for-healthcare/i4h-workflows "$ROOT"
fi
export I4H_WORKFLOWS="$ROOT"; cd "$ROOT"

Basics

• Env YAMLs at workflows/agentic/config/environments/<env>.yaml are the source of truth.
• Each pipeline stage has its own skill. Compose them or use [[i4h-workflow-e2e]] for full runs.

Supported Envs

This table is the curated, tested set (robot + policy combos shipped with the repo) and is a static reference — it does not auto-update. Envs you add with [[i4h-workflow-create]] are registered on disk but will not appear here, so do not treat this table as the complete list.

To list every registered env (including ones you just created), enumerate at runtime instead of reading this table:

workflows/agentic/policy/run.sh --list-envs        # authoritative registry of all envs
ls workflows/agentic/config/environments/*.yaml    # env YAMLs on disk (source of truth; includes new ones)

Env	Robot	Policy
scissor_pick_and_place	SO-ARM 101	GR00T N1.5 (N1.7 alternative)
locomanip_tray_pick_and_place	Unitree G1	GR00T N1.6 (shared policy.locomanip.*)
locomanip_push_cart	Unitree G1	GR00T N1.6 (shared policy.locomanip.*)
assemble_trocar	Unitree G1 + Dex hands	GR00T N1.5 (inference-only)
ultrasound_liver_scan	Franka-style arm	openpi PI0

Subprojects

Directory	Purpose
arena/	IsaacLab-Arena envs, scenes, tasks, teleop, record, replay
policy/	Policy daemons and train dispatchers
dataset/	HDF5 → LeRobot conversion and visualization
mimic/	HDF5 trajectory expansion
annotator/	VLM success labels and filtering
cosmos/	Optional Cosmos Transfer video augmentation
common/	Shared config, messaging, robot constants

Skill Index

• [[i4h-workflow-setup]] — install / sync / check third-party deps.
• [[i4h-workflow-create]] — add a new env.
• [[i4h-workflow-scene-edit]] — edit an existing scene / task / camera.
• [[i4h-workflow-dataset-teleop]] — record human demos.
• [[i4h-workflow-dataset-replay]] — replay HDF5 episodes.
• [[i4h-workflow-dataset-mimic]] — expand HDF5 demos with noise.
• [[i4h-workflow-dataset-annotate]] — VLM label / filter episodes.
• [[i4h-workflow-dataset-convert]] — convert HDF5 to LeRobot.
• [[i4h-workflow-dataset-transfer]] — Cosmos Transfer video augmentation.
• [[i4h-workflow-finetune]] — train supported envs.
• [[i4h-workflow-validate]] — roll out / evaluate policy checkpoints.
• [[i4h-workflow-e2e]] — run the full pipeline.
• [[i4h-lerobot-viz]] — open the LeRobot HTML viewer.

Prerequisites

• For any hands-on stage, set up the workflow first — see [[i4h-workflow-setup]] (.venv present, third-party checked out).
• Env YAMLs at workflows/agentic/config/environments/<env>.yaml are the source of truth.

Limitations

• Overview/routing only — each pipeline stage has its own skill; this one performs no recording, training, or rollout.
• Supported envs/robots/policies are limited to those in Supported Envs; new robots or tasks require [[i4h-workflow-create]].

Troubleshooting

• Error: env not found / unsupported — Cause: the env is not registered or has no YAML under workflows/agentic/config/environments/. Fix: run workflows/agentic/policy/run.sh --list-envs to see all registered envs (including newly-created ones) and pick one, or add a new one with [[i4h-workflow-create]].
• Not sure which skill applies — Cause: stage unclear. Fix: match the pipeline stage to the Skill Index above.

Final Response

For overview questions, list the live envs via workflows/agentic/policy/run.sh --list-envs (not just the curated table above), summarize the subproject layout, and point to the next stage skill.