Repository: https://github.com/isaac-for-healthcare/i4h-workflows

Agentic Mimic

Generate additional HDF5 demos from seed recordings by copying trajectories and adding small action/state noise. This is a lightweight data expansion helper; it does not run IsaacLab Mimic or solve new IK trajectories.

Setup

workflows/agentic/mimic/setup.sh

Generate Variants

workflows/agentic/mimic/run.sh \
  --env scissor_pick_and_place \
  --input recording.hdf5 \
  --output recording_mimic.hdf5 \
  --episodes 6 \
  --noise-std 0.01 \
  --include-source \
  --overwrite

--episodes is the total number of generated demos. --include-source also copies the input demos into the output. Pass --env to clamp jittered joints using dataset metadata from config/environments/<env>.yaml and to resolve relative HDF5 names under workflows/agentic/runs/<env>/; use --seed for reproducible perturbations.

Inspect an output file:

uv --directory workflows/agentic/mimic run i4h-agentic-mimic-inspect \
  --env scissor_pick_and_place \
  recording_mimic.hdf5

Stop a running generation:

workflows/agentic/mimic/stop.sh --env scissor_pick_and_place
workflows/agentic/mimic/stop.sh --env scissor_pick_and_place --force