I4h Workflow Dataset Mimic
NVIDIAOfficialCreated by Isaac for Healthcare TeamDistributed by NVIDIA
- Skill
- Workflow
- Data and AI
- Apache-2.0
- Medium risk
AutoGineer summary
Written by AutoGineer from the skill’s own files, not by the author
This skill provides a structured workflow for augmenting existing HDF5 demonstration datasets used in healthcare robotics workflows. It enables users to create synthetic variants of successful episodes by applying controlled action jitter, which can be scoped to specific node segments. The process involves inspecting source data, generating new episodes with configurable noise levels, and verifying the integrity of the resulting dataset.
What it does
- Inspects HDF5 demonstration files to identify successful episodes and segments.
- Generates synthetic dataset variants by applying action jitter to source demonstrations.
- Supports node-scoped jitter application for targeted data augmentation.
- Verifies generated datasets for consistency in dimensions and success flags.
- Integrates with visualization tools for post-generation review.
When to use it
- When you need to increase the volume of demonstration data for training models.
- When you want to introduce controlled variability into existing successful robot episodes.
- When you need to test model robustness by adding noise to specific action nodes.
- When preparing datasets for further visualization or analysis workflows.
Advantages
- Automates the creation of synthetic training data from existing successful runs.
- Allows for precise control over noise levels and random seeds.
- Supports targeted augmentation via node-specific segment scoping.
- Includes built-in verification steps to ensure data integrity.
Usage examples
- “Mimic 3 more episodes and visualize my dataset.”
- The agent generates three synthetic variants of the source HDF5 file with action jitter, verifies the output, converts the data, and launches the LeRobot visualizer.
- “Create 10 new episodes from my source file with 0.05 noise.”
- The agent creates 10 additional episodes in a new directory using the specified noise level and reports the final dataset counts.
Install
Download the skill as a ZIP:
https://mp-staging.autogineer.com/agent-skills/nvidia/i4h-workflow-dataset-mimic/downloadUnzip it into the cross-client skills folder of your project:
mkdir -p .agents/skills && unzip i4h-workflow-dataset-mimic.zip -d .agents/skills
Documentation by Isaac for Healthcare Team
Mimic Workflow Demonstrations
Purpose
Clone successful source episodes and perturb recorded actions.
Instructions
Run the checkout resolver and select the source HDF5.
Inspect successful episodes and segments.
Run mimic to generate the requested additional action-jitter variants.
Compare exact counts and preserved contracts.
Resolve and inspect
export I4H_WORKFLOWS_REPO_URL="${I4H_WORKFLOWS_REPO_URL:-https://github.com/isaac-for-healthcare/i4h-workflows}"
I4H_REPO_DIR_NAME="${I4H_WORKFLOWS_REPO_URL%/}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME##*/}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME##*:}"
I4H_REPO_DIR_NAME="${I4H_REPO_DIR_NAME%.git}"
[ -n "$I4H_REPO_DIR_NAME" ] || { echo "Cannot derive a checkout name from I4H_WORKFLOWS_REPO_URL" >&2; exit 2; }
ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"
if [ ! -d "$ROOT/workflows/i4h_workflows" ]; then
ROOT="${I4H_WORKFLOWS:-$HOME/$I4H_REPO_DIR_NAME}"
[ -d "$ROOT/workflows/i4h_workflows" ] || git clone "$I4H_WORKFLOWS_REPO_URL" "$ROOT"
fi
export I4H_WORKFLOWS="$ROOT"
cd "$ROOT"
HDF5_PATH=/absolute/path/to/source.hdf5
uv run --project tools/dataset i4h-dataset inspect "$HDF5_PATH" --segmentsTreat the resolver above as part of the skill contract: a hosted copy may run outside the base repository, so never assume the current checkout contains workflows/i4h_workflows. I4H_WORKFLOWS_REPO_URL selects the clone source. When I4H_WORKFLOWS is unset, derive the fallback directory from that URL; set I4H_WORKFLOWS only to reuse or choose a specific destination. Never replace an existing checkout.
Use the explicit/current-chain recording. Require at least one successful source episode. If the user asks for node-scoped jitter, require that node in segment metadata.
Expand
RUN_DIR="$(pwd)/runs/<workflow>/$(date +%Y%m%d_%H%M%S)"
mkdir -p "$RUN_DIR"
uv run --project tools/mimic i4h-mimic \
"$HDF5_PATH" "$RUN_DIR/expanded.hdf5" \
--episodes <additional-count> \
--noise 0.01 \
--seed <seed> \
--include-source \
--successful-only--episodes is the number of generated variants, not the final total. Add --node <node-id> only when requested. Preserve the default deterministic seed unless the user supplies another.
Verify and compose
uv run --project tools/dataset i4h-dataset inspect "$RUN_DIR/expanded.hdf5" --segmentsConfirm source count, generated count, dimensions, success flags, and segment preservation. Reject zero generated episodes.
If the same prompt requests visualization, continue with i4h-workflow-dataset-convert, then i4h-lerobot-viz; raw HDF5 is not a LeRobot visualizer input.
Troubleshooting
On failure, inspect the first episode shape or segment error. If a requested node is absent, report available node ids.
Prerequisites
Require a readable HDF5 file with at least one successful episode and valid segments for node-scoped jitter.
Limitations
The current tool does not independently add state noise, rerun physics, or synthesize camera frames.
Examples
Mimic 3 more episodes and visualize my dataset.→ generate three variants, convert the expanded HDF5, then launch LeRobot visualization.
Completion gate
Report input/output paths, source and generated counts, final total, action-noise value, seed, optional node, limitations, and conversion/visualizer result when requested.
Files
- ATTRIBUTION.mdAdded by AutoGineer955 B
- BENCHMARK.md6.8 KiB
- LICENSELicence file added by AutoGineer11.2 KiB
- SKILL.md3.8 KiB
- evals/evals.json1.3 KiB
- skill-card.md4.4 KiB
- skill.oms.sig4.5 KiB
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Requirements and compatibility
Works with: Claude Code, Claude apps, OpenAI Codex, GitHub Copilot, Cursor, Gemini CLI, Kiro, OpenCode, Goose, Amp, Roo Code, JetBrains Junie, Factory Droid, Devin (ex-Windsurf), Mistral Vibe, OpenHands, Letta
“Works with” means the tool reads the open Agent Skills format; a skill written for one tool may use features others lack.
Needs: Needs Python, Needs Node.js
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Attribution and licence
- Created by
- Isaac for Healthcare Team
- Publisher
- NVIDIA (Official)
- Distributed by
- NVIDIA
- Source
- NVIDIA/skills · skills/i4h-workflow-dataset-mimic · commit fce3cca
- Licence
- Apache License 2.0 (redistribution allowed)
- LICENSE (added by AutoGineer from LICENSE-APACHE)
- ATTRIBUTION.md (written by AutoGineer)
- Synced
AutoGineer is not affiliated with or endorsed by Isaac for Healthcare Team or NVIDIA.
Download ZIP
The ZIP holds the skill’s files, its licence files and an ATTRIBUTION.md. Download i4h-workflow-dataset-mimic.zip