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.

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.
• For env authoring or scene-edit source changes, load skills/i4h-workflow/references/repo-map.md before generating code.

Supported Envs

Fallback when --list-envs fails (setup incomplete):

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
surgical_reach_psm	dVRK PSM	GR00T N1.5 or scripted state machine
surgical_reach_dual_psm	dVRK dual PSM	GR00T N1.5 or scripted state machine
surgical_reach_star	STAR	GR00T N1.5 or scripted state machine
surgical_lift_block	dVRK PSM	GR00T N1.5 or scripted state machine
surgical_lift_needle	dVRK PSM	GR00T N1.5 or scripted state machine
surgical_lift_needle_organs	dVRK PSM	GR00T N1.5 or scripted state machine

Run

Run the step below before answering. Each step is a separate bash call; variables persist in the local agent's tmux session.

Step 1 — list supported envs

REPO_ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"; [ -d "$REPO_ROOT/workflows/agentic" ] || REPO_ROOT="$HOME/i4h-workflows"
"${REPO_ROOT}/workflows/agentic/policy/run.sh" --list-envs

If the command fails, use the Supported Envs fallback table above.

Subprojects

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

Skill Index

Skill	Purpose
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-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]] (component venvs and third-party checkouts present).
• 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.

Troubleshooting

• Error: env not found / unsupported — Cause: typo, unregistered env, or setup incomplete. Fix: run workflows/agentic/policy/run.sh --list-envs; if that fails, run [[i4h-workflow-setup]] first; otherwise check the Supported Envs table.

Final Response

The response is incomplete unless it includes all three parts below, each separated by a blank line. Do not reply with prose only or run sections together without spacing.

1. Orientation — one short paragraph: env YAMLs, subprojects, sim-to-policy pipeline.

2. Supported envs — heading plus markdown table from Step 1 (--list-envs output: env, stack, description) or the Supported Envs fallback table.

3. Available skills — heading plus the full Skill Index table copied into the response.

Then (after another blank line) recommend [[i4h-workflow-setup]] if setup is not done, and name one next stage skill matched to the user's goal.