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name: imitation-and-teleop description: "Use imitation-and-teleop for Isaac Lab teleoperation, demonstration capture, Mimic annotation, SkillGen-style synthetic generation, and Cosmos-based visual augmentation workflows." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Imitation and Teleoperation

Use this sub-skill when the task is about collecting demonstrations, annotating subtask signals, synthesizing new demos, or using teleoperation and XR devices in Isaac Lab.

Route here for

• Recording demonstrations from a teleoperated task.
• Choosing between native teleop, SpaceMouse, keyboard, or Isaac Teleop / CloudXR paths.
• Annotating demonstrations for Mimic-style replay and data generation.
• Generating synthetic demonstrations with Mimic or SkillGen.
• Converting HDF5 demonstrations to MP4 and back for visual augmentation.
• Building Cosmos prompts and merging dataset variants.

Use other subskills for

• Launching the simulator, picking a backend, or setting camera/visualizer options: ../simulation-core/SKILL.md.
• Asset selection for the robot or sensor being teleoperated: ../assets-and-sensors/SKILL.md.
• Environment discovery or preset selectors used by the task: ../tasks-and-presets/SKILL.md.

Working references

• references/teleop-and-data-collection.md covers human demonstrations, devices, and recording preconditions.
• references/mimic-and-skillgen.md covers annotation, synthetic generation, and skill-local signal requirements.
• references/cosmos-augmentation.md covers HDF5/MP4 conversion, prompt generation, and visual augmentation.
• references/dataset-formats.md records file-layout and naming conventions.
• references/troubleshooting.md covers device, dependency, and data-format failures.
• scripts/inspect_imitation_workflow.py prints a safe phase summary and prerequisite checklist.
• scripts/generate_cosmos_prompt.py adapts the prompt-template generator used in the augmentation workflow.
• scripts/merge_hdf5_datasets.py adapts the dataset merge helper for Isaac Lab-style data/demo_* HDF5 files.

Acceptance checks

• Name the required device family or augmentation backend for the requested workflow.
• State whether the task needs manual subtask start/termination annotation or only terminal completion signals.
• Identify the expected dataset naming/layout before a conversion or merge step.
• Call out Linux-only, XR-only, or GPU-only constraints when the workflow requires them.