i4h-workflows

Serve the LeRobot HTML visualizer for a converted dataset in a browser. Use when asked to visualize, inspect, or open a LeRobot dataset; not for converting HDF5 (use [[i4h-workflow-dataset-convert]]).

Create a new agentic environment from an existing one (robot + task + scene + policy). Use when asked to add a new env or task. For in-place scene edits, see [[i4h-workflow-scene-edit]].

Use a VLM to verify whether each episode satisfies the env's task description. Use when the user asks to annotate, label episodes, filter demos, or gate finetuning on a success classifier.

Convert an agentic HDF5 recording into a LeRobot dataset (parquet, meta, videos). Use when asked to convert HDF5, prepare for training, or export to LeRobot; not for viewing — use [[i4h-lerobot-viz]].

Expand an HDF5 recording by cloning trajectories with action/state noise. Use when asked to mimic, expand, or augment a dataset; not for recording new demos (use [[i4h-workflow-dataset-teleop]]).

Replay a recorded HDF5 episode inside Isaac Sim for visual verification. Use when the user asks to replay, play back, or step through an HDF5 recording.

Record episodes for an agentic env via teleoperation (keyboard, SO-ARM leader, or VR) into HDF5. Use when the user wants to teleop or record human demos.

Augment HDF5 camera streams with NVIDIA Cosmos Transfer for visual diversity. Use when the user asks to apply Cosmos, domain-randomize videos, or make sim look photoreal. Requires Docker and GPU.

Run the full end-to-end agentic pipeline (record → mimic → annotate → replay → convert → visualize → finetune → validate). Use when asked to run the whole pipeline or do an e2e, smoke, or demo run.

Fine-tune a GR00T or openpi PI0 policy on a LeRobot dataset. Use when asked to finetune, train, or post-train a policy on demos; not for evaluating a checkpoint (use [[i4h-workflow-validate]]).

Edit an env's scene in place — objects, cameras, task, success bounds, randomization. Use when asked to edit a scene or launch/run/open an env in edit mode (`--bridge`), incl. a just-created env.

Verify host requirements and run `workflows/agentic/setup.sh`. Use when asked to set up, install, or bootstrap the agentic workflow, or hits missing `.venv`, third-party checkout, or engine errors.

Overview of `workflows/agentic/` (IsaacLab-Arena + GR00T/openpi). Use when the user asks what i4h workflow is, what's supported, or where to start.

Roll out a policy against an env and record verification episodes. Use when the user asks to validate, evaluate, or rollout a policy or checkpoint.