I4h Workflow

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.

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

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

• 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.