i4h-workflow-dataset-mimic

name	i4h-workflow-dataset-mimic
version	0.6.0
description	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]]).
license	Apache-2.0
metadata	{"author":"Isaac for Healthcare Team <[e-mail]>","tags":["isaac-for-healthcare","i4h","dataset","mimic","augmentation"]}

i4h Workflow — Mimic Dataset

Purpose

Expand an HDF5 recording by replicating trajectories with small action and state noise. Use when the user asks to mimic, expand, or augment a dataset without recording new episodes.

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 config (source of truth): workflows/agentic/config/environments/<env>.yaml defines the <env> robot and task the mimicked trajectories replay against.
• Mimic perturbs action/state, not visuals. For visual variation use [[i4h-workflow-dataset-transfer]].
• Default --include-source keeps the original demos in the output.

Run

REPO_ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"; [ -d "$REPO_ROOT/workflows/agentic" ] || REPO_ROOT="$HOME/i4h-workflows"
ENV_ID=scissor_pick_and_place
RUNS_ROOT="${REPO_ROOT}/workflows/agentic/runs"

# Point IN at a real recording to expand (absolute path). Recordings come from teleop or
# validate (which writes data/verify.hdf5 under each runs/eval_* dir). List candidates newest-first:
#   find "${RUNS_ROOT}" -name '*.hdf5' -printf '%TY-%Tm-%Td %TH:%TM  %p\n' | sort -r | head
IN="${IN:-}"
if [ ! -f "${IN}" ]; then
  echo "mimic: set IN to an existing .hdf5 (got '${IN:-<unset>}'). Candidates:" >&2
  find "${RUNS_ROOT}" -name '*.hdf5' -printf '%TY-%Tm-%Td %TH:%TM  %p\n' 2>/dev/null | sort -r | head
  exit 1
fi

RUN_DIR="${RUNS_ROOT}/mimic_${ENV_ID}_$(date +%Y%m%d_%H%M%S)"
mkdir -p "${RUN_DIR}/data" "${RUN_DIR}/logs"
ln -sfn "${RUN_DIR}" "${RUNS_ROOT}/.latest"
OUT="${RUN_DIR}/data/demo_mimic.hdf5"

"${REPO_ROOT}/workflows/agentic/mimic/run.sh" --env "${ENV_ID}" \
  --input "${IN}" \
  --output "${OUT}" \
  --episodes 3 \
  --noise-std 0.01 \
  --include-source \
  --overwrite \
  2>&1 | tee "${RUN_DIR}/logs/mimic.log"

Verify

uv --directory "${REPO_ROOT}/workflows/agentic/mimic" run python -c \
  "import h5py; print('episodes:', len(h5py.File('${OUT}','r')['data']))"

Confirm the output episode count equals the source demos plus --episodes.

Prerequisites

• Workflow set up via [[i4h-workflow-setup]] (the .venv must exist).
• An existing input HDF5 recording (--input).
• The env id that produced the recording.

Limitations

• Perturbs action/state only, not visuals; for visual variation use [[i4h-workflow-dataset-transfer]].
• Augments an existing recording rather than recording new episodes.
• Output state/action dimensions must match the source.

Troubleshooting

• Error: .venv not found / mimic fails to launch - Cause: workflow not set up. Fix: run [[i4h-workflow-setup]] first.
• Error: input recording not found - Cause: wrong or missing --input HDF5 path. Fix: point to the existing recording file.
• Error: output already exists / write refused - Cause: --output path is occupied. Fix: choose a new path or pass --overwrite.
• Error: state/action dimension mismatch on inspect - Cause: --env differs from the env that produced the input. Fix: use the same env id as the source recording.

Final Response

Report input path, output path, generated episode count, noise std, whether source demos were included.