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i4h-workflow

Orients users on the i4h agentic workflow environments, robots, policies, and per-stage skills.

3.2k|370|Updated Feb 25, 2026
Search Tags:#simulation#robotics#workflow-routing#OpenPI#gr00t#isaac-for-healthcare#isaaclab-arena
One-click install
npx skills add https://github.com/NVIDIA/skills --skill i4h-workflow
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: i4h-workflow
Source: https://github.com/NVIDIA/skills/tree/main/skills/i4h-workflow
Command: npx skills add https://github.com/NVIDIA/skills --skill i4h-workflow

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes references (resource) components.

What problem does it solve?

Developers approaching the Isaac for Healthcare (i4h) agentic workflow often don't know which environments, robots, and policies are supported or which pipeline stage to start with. This Skill provides an orientation layer that lists supported envs and routes users to the correct per-stage skill.

Core Features & Use Cases

  • Environment Discovery: Lists supported simulation environments (e.g., scissor_pick_and_place, ultrasound_liver_scan) with their robots and policy stacks via run.sh --list-envs, with a fallback table.
  • Pipeline Routing: Maps the workflows/agentic/ subprojects (arena, policy, dataset, mimic, annotator, cosmos) and directs users to the right stage skill such as setup, teleop, finetune, or validate.
  • Use Case: A robotics engineer new to i4h asks what the workflow supports; the agent resolves the repo, lists envs built on IsaacLab-Arena with GR00T/openpi policies, and recommends the setup skill as the next step.

Quick Start

Ask your agent what the i4h workflow includes and which environments and skills are available to get started.

Frequently Asked Questions about i4h-workflow

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
What environments does the i4h agentic workflow support?▼

The workflow supports environments including scissor_pick_and_place (SO-ARM 101), locomanip tasks (Unitree G1), assemble_trocar, ultrasound_liver_scan (Franka-style arm), and surgical dVRK/STAR tasks. Run workflows/agentic/policy/run.sh --list-envs for the authoritative list.

How do I get started with the i4h workflow?▼

Start with the i4h-workflow-setup skill to install component venvs and third-party checkouts. Env YAMLs at workflows/agentic/config/environments/ are the source of truth, and each pipeline stage has its own dedicated skill.

Which policy stacks work with i4h simulation environments?▼

Most environments use GR00T N1.5 or N1.6 policies, while ultrasound_liver_scan uses the openpi PI0 stack. Surgical reach tasks also support a scripted state machine, and assemble_trocar is inference-only.

Does the i4h-workflow skill run training or rollout itself?▼

No, it is an overview and routing skill only. Recording, training, rollout, and dataset conversion are handled by dedicated per-stage skills such as i4h-workflow-finetune and i4h-workflow-validate.

Why does listing i4h environments fail with an error?▼

The --list-envs command fails when setup is incomplete or the repo is unresolved. Run the i4h-workflow-setup skill first, or set I4H_WORKFLOWS to an existing checkout; otherwise consult the fallback Supported Envs table.

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