New and Recently Updated Skills

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I4h Catheter Navigation E2e

End-to-end smoke for catheter navigation covering setup, digital twin, DRR, and unit tests. Use when asked to run the full catheter workflow smoke or demo the v0.7 pipeline.

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I4h Catheter Navigation Render Drr

Render a single DRR fluoroscopy frame from a CT cache or synthetic phantom. Use when asked to render DRR, generate a fluoro image, or smoke-test the Slang renderer.

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I4h Catheter Navigation Setup

Verify host/GPU requirements and PYTHONPATH for the catheter navigation workflow. Use when asked to set up, install, or bootstrap catheter_navigation, or when hitting import/GPU/slangpy errors.

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I4h Catheter Navigation Smoke

Run CPU-only fluorosim smoke tests (imports, preprocessing, CLI parsers). Use when asked to smoke-test catheter navigation in CI or without a GPU.

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I4h Catheter Navigation Viewport

Launch the interactive Slang fluoroscopy viewport with XPBD catheter physics. Use when asked to open the viewport, teleop a catheter, or demo fluoro navigation.

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I4h Lerobot Viz

Serve the LeRobot HTML visualizer for a converted dataset in a browser. Use when asked to visualize, inspect, or open a LeRobot dataset; not for converting HDF5 (use [[i4h-workflow-dataset-convert]]).

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I4h Workflow

Overview of `workflows/agentic/` (IsaacLab-Arena + GR00T/openpi). Use when the user asks what i4h workflow is, what's supported, or where to start.

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I4h Workflow Create

Create a new agentic env by forking an existing env. Use for new env/task scaffolding, not scene edits or baking.

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I4h Workflow Dataset Annotate

Use a VLM to verify whether each episode satisfies the env's task description. Use when the user asks to annotate, label episodes, filter demos, or gate finetuning on a success classifier.

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I4h Workflow Dataset Convert

Convert an agentic HDF5 recording into a LeRobot dataset (parquet, meta, videos). Use when asked to convert HDF5, prepare for training, or export to LeRobot; not for viewing — use [[i4h-lerobot-viz]].

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I4h Workflow Dataset Mimic

Expand an HDF5 recording by cloning trajectories with action/state noise. Use when asked to mimic, expand, or augment a dataset; not for recording new demos (use [[i4h-workflow-dataset-teleop]]).

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I4h Workflow Dataset Replay

Replay a recorded HDF5 episode inside Isaac Sim for visual verification. Use when the user asks to replay, play back, or step through an HDF5 recording.

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I4h Workflow Dataset Teleop

Record episodes for an agentic env via teleoperation (keyboard, SO-ARM leader, or VR) into HDF5. Use when the user wants to teleop or record human demos.

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I4h Workflow E2e

Run the full end-to-end agentic pipeline (record → mimic → annotate → replay → convert → visualize → finetune → validate). Use when asked to run the whole pipeline or do an e2e, smoke, or demo run.

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I4h Workflow Finetune

Fine-tune a GR00T or openpi PI0 policy on a LeRobot dataset. Use when asked to finetune, train, or post-train a policy on demos; not for evaluating a checkpoint (use [[i4h-workflow-validate]]).

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I4h Workflow Scene Edit

Edit an env's scene in place — objects, cameras, task, success bounds, randomization. Use when asked to edit a scene or launch/run/open an env in edit mode (`--bridge`), incl. a just-created env.

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I4h Workflow Setup

Verify host requirements and run `workflows/agentic/setup.sh`. Use when asked to set up, install, or bootstrap the agentic workflow, or hits missing `.venv`, third-party checkout, or engine errors.

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I4h Workflow Validate

Validate, evaluate, or run i4h envs. Use for policy/checkpoint rollouts and scripted state-machine smoke runs.

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Jetson Build Source

Use when you need to rebuild the BSP overlay — DT, OOT modules, or kernel — from changes under bsp_sources/. Triggers: build bsp, rebuild dtb, rebuild kernel.

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Jetson Customize Camera

Enable MIPI/GMSL camera sensors on a Jetson Thor or Orin custom carrier by rendering a kernel-DT overlay from the in-tree sensor DTSI. Do NOT use for UPHY lane allocation or ODMDATA edits.

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Jetson Customize Clocks

Use to lock/cap Jetson CPU/GPU/EMC clocks, toggle EMC/CPU DVFS, or change cpufreq governors by editing BPMP DTB and nvpower.sh pre-flash. Do NOT use for live tuning or nvpmodel edits.

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Jetson Customize Fan

Use when you need to add, remove, edit, list, or change the boot default of an nvfancontrol fan profile on a Jetson/Tegra (Orin, Thor) target. Triggers: edit fan profile, tune fan curve.

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Jetson Customize Mgbe

Enable Jetson Thor 25G/10G/1G MGBE QSFP via kernel-DT overlay. Do NOT use for UPHY lane allocation or ODMDATA edits.

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Jetson Customize Nvpmodel

Use when you need to add, remove, edit, list, or change the boot default of an nvpmodel power mode on a Jetson/Tegra (Orin, Thor) target. Triggers: edit power mode, tune frequency caps.

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Jetson Customize Pcie

Per-controller PCIe enable / disable / lanes / link-speed for a Jetson Thor or Orin custom carrier via ODMDATA + kernel-DT overlay. Do NOT use for UPHY lane allocation or endpoint-mode bring-up.

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Jetson Customize Pinmux

Per-pin SFIO / direction / initial-state configurator for a Jetson Orin or Thor custom carrier from the pinmux XLSM. Do NOT use for kernel-DT overlay or ODMDATA edits.

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Jetson Customize Uphy

Configure Jetson UPHY lane allocation (uphy0/uphy1-config) on Orin/Thor custom carriers. Do NOT use for pinmux or PCIe-only edits.

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Jetson Customize Usb

Enable/disable Jetson USB2/USB3 SS ports via kernel-DT overlay. Do NOT use for UPHY lane allocation or ODMDATA edits.

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Jetson Derive Carrier

Bootstrap a custom carrier board by forking carrier files and scaffolding a DT overlay from the reference devkit. Use after jetson-init-source; not for module-level or kernel-DTB changes.

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Jetson Diagnostic

Read-only Jetson health snapshot for identity, memory, GPU, thermal, power, storage, services, and top processes.

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Jetson Download Bsp

Download NVIDIA Jetson Linux BSP artifacts (BSP tarball, sample rootfs, public_sources, x-tools, guides) for the active target. Use for Auto Setup; not for extraction or profile edits.

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Jetson Flash Image

Use to flash a promoted BSP image to a Jetson DUT in RCM mode via flash.sh or l4t_initrd_flash.sh. Do NOT use for BSP customization, image promotion, or carrier derivation.

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Jetson Generate Kb

Build a per-target knowledge-base markdown next to the active profile by walking the BSP root and source tree. Use after init-image / init-source; not for editing profile fields.

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Jetson Headless Mode

Plan and apply safe Jetson headless-mode changes to reclaim GUI and daemon memory.

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Jetson Inference Mem Tune

Pick the serving stack and per-runtime memory flags (vLLM, SGLang, llama.cpp, TensorRT Edge-LLM) for an LLM/VLM workload on any NVIDIA Jetson.

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Jetson Init Image

Extract Jetson Linux + sample-rootfs tarballs and run apply_binaries.sh for the active target, then record bsp_image in the profile. Use after jetson-init-target; not for source-tree setup.

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Jetson Init Source

Set up the BSP source workspace: Linux_for_Tegra overlay tracker, bsp_sources, Crosstool-NG toolchain. Use after jetson-init-image; not for fetching inputs.

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Jetson Init Target

Author a new Jetson target-platform profile (reference_devkit + optional custom_carrier) and update the active pointer. Use to create a target; not for switching existing profiles.

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Jetson Link Docs

Bind pre-downloaded Jetson reference docs (developer guide, design guide, pinmux, schematics) into the active profile documents block. Use after staging docs on disk; not for downloading.

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Jetson Llm Benchmark

Benchmark Jetson LLM/VLM serving performance across vLLM, llama.cpp, and Ollama with structured JSON output.

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Jetson Llm Serve

Stand up vLLM or SGLang serving on Jetson, using upstream vLLM on Thor and Orin JetPack 7.2+, and NVIDIA-AI-IOT vLLM on older Orin.

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Jetson Memory Audit

Measure Jetson DRAM/NvMap usage and verify before/after memory reclamation with live audit data.

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Jetson Optimize Memory

Reclaim DRAM by disabling unused subsystems across MB1 BCT, MB2 BCT, kernel reserved-memory, and SWIOTLB. Use for headless or no-camera Jetson deployments; not for CPU/GPU frequency tuning.

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Jetson Package

Pick Jetson-compatible containers, vLLM runtime images, and Jetson AI Lab PyPI indexes; maps Orin SM 8.7 vs Thor SM 11.0 and JetPack-specific package choices.

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Jetson Print Bsp Info

Use when you need to print Jetson BSP info (L4T version, board configs, rootfs state) from a Linux_for_Tegra root on the host PC. This is an example skill.

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Jetson Print Device Info

Use when you need to print Jetson device info (module model, L4T version, kernel, OS version, current power mode) from a running Jetson target. This is an example skill.

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Jetson Promote Image

Use to promote overlay files and built artifacts into the staged BSP image. Do NOT use to flash or build. Triggers: promote bsp image.

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Jetson Quick Start

Entry skill for Jetson / IGX BSP customization. Asks one core click-to-select setup questionnaire and passes prefilled answers to downstream setup skills.