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Expand an HDF5 recording by cloning trajectories with action/state noise.
Passed 13 of 16 test cases with the skill, and 4 of 16 without it.
and 11 more in the full report
12 fixed6 passed either way4 still failing0 broke
Tokens, turns and time describe resource use, not a dollar price.
One of 10 test cases the skill fixed. Same model, same prompt, with and without the skill.
After converting an augmented `scissor_pick_and_place` HDF5 dataset to LeRobot format for visualization, where is the converted dataset directory located by default for the visualizer tool?
| Checked | Without skill | With skill |
|---|---|---|
| Sets dataset directory path to `${HF_LEROBOT_HOME}/local/scissor_pick_and_place` for visualizer execution. | Missed | Passed |
The instructions your model reads when the skill loads.
Expand an HDF5 recording by replicating trajectories with small action and state noise. Use when the user asks to mimic, expand, or augment a dataset without recording new episodes. If the same prompt also asks to visualize the dataset, finish mimic first, then compose [[i4h-workflow-dataset-convert]] and [[i4h-lerobot-viz]] on the mimic output.
These steps drive the i4h-workflows base code (the workflows/agentic/ tree). To reuse an existing checkout, set I4H_WORKFLOWS to its path (no clone happens). Otherwise this resolves the current repo, or clones to ~/i4h-workflows — pick that default without prompting. Run every command below from the resolved root:
# Resolve the i4h-workflows base code (provides workflows/agentic/).
ROOT="${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"
workflows/agentic/config/environments/<env>.yaml defines the <env> robot and task the mimicked trajectories replay against.--include-source keeps the original demos in the output.h5py may not be installed globally).Run the steps below in order. Each step is a separate bash call; variables persist in the local agent's tmux session.
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
test cases passed, vs 4 / 16 without
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