v0.4.0

What's Changed

• Upgrade IsaacSim 5.0 and IsaacLab 2.3 for surgery workflow
• Add holoscan support for so_arm_starter workflow
• Enhance documentation for so_arm_starter workflow
• Upgrade isaacsim5.0 isaaclab2.3 for Telesurgery workflow
• Add documentation and example of Thor and Origin deployment so_arm_starter workflow
• Upgrade to IsaacSim 5.0 IsaacLab2.3 for robotic ultrasound workflow
• Add DGX support for so_arm_starter workflow
• Update SE3 teleop isaaclab api change
• Fix pybind11 installation for Ubuntu 22 compatibility
• Improve Cosmos Transfer documentations
• Ignore .dat/.lic files to avoid adding RTI license to repo

Full Changelog: isaac-for-healthcare/i4h-workflows-internal@v0.3.0...v0.4.0

v0.3.0

What's Changed

• Add SO-ARM starter workflow with GR00T N1.5 integration and Sim2Real documentation
• Telesurgery: Update patient side to start in perspective view
• Supports HSB + imx274 camera as input source
• i4h CLI based on Holohub CLI
• Support for AJA Operator in Telesurgery
• Add YUAN HSB support
• Support auto-downloading models from Hugging Face

v0.2.0

What's Changed

• Fix dependency installation by @mingxin-zheng in #133
• Add Playback Recording Feature by @KumoLiu in #125
• Docker build for robotic surgery to enable webrtc streaming by @mingxin-zheng in #128
• Eval GR00T N1 model by @KumoLiu in #106
• Include cosmos transfer1 dependency by @KumoLiu in #134
• Make individual asset accessible by @mingxin-zheng in #126
• Improve documentation by @jjomier in #143
• Fix Cosmos Installation by @mingxin-zheng in #144
• Add docker build for robotic ultrasound by @mingxin-zheng in #131
• integrate cosmos-transfer1 + guided generation to I4H workflows by @guopengf in #129
• Add Virtual Incision MIRA teleoperate tutorial by @yiheng-wang-nv in #142
• Fix robot us docker build by @mingxin-zheng in #147
• Enhances sim_with_dds.py with HDF5 reset support and add a trajectory metrics evaluation pipeline. by @KumoLiu in #137
• Refactor lerobot format conversion and upgrade Isaaclab to v2.1.0 by @KumoLiu in #148
• allow choice of ultrasound probes matching raysim by @maximilianofir in #146
• Update MIRA tutorial to match up with new assets by @yiheng-wang-nv in #154
• Tutorial: Teleoperation with OpenXR Hand Tracking by @tbirdso in #145
• Enhances the test log printing with improved real-time output streaming by @mingxin-zheng in #160
• Telesurgery Workflow by @SachidanandAlle in #149
• Update default pi0 ckpt_path and documentation for the new weights by @KumoLiu in #162
• Temporary Solution for Segmentation Fault During Evaluation by @KumoLiu in #165
• Port main to release branch as preparation for v0.2.0rc1 by @mingxin-zheng in #163
• Refactor Holoscan Operators by @wendell-hom in #169
• Update transform_matrix and rot and pos factor in teleop with OpenXR by @KumoLiu in #161
• Update Instructions for Telesurgery Workflow by @mocsharp in #167
• Improve documentation by @jjomier in #173
• Update "Observations and Conclusion" part in evaluation folder by @KumoLiu in #166
• Pin the Isaac-GR00T repository to the n1-release branch and update related documentation and setup scripts by @KumoLiu in #178
• Update documentation by @jjomier in #179
• Fix Failure to Start Simulation LiveStream from Remote Docker Container by @mingxin-zheng in #175
• Rewrite the robotic surgery Dockerfile to fix livestream issues by @mingxin-zheng in #182
• Post release candidate 0.2.0rc2 by @mingxin-zheng in #183
• Update Pi0 and GR00TN1 model weights and Readme by @KumoLiu in #184
• Comprehensive documentation refractor for robotic ultrasound workflow by @mingxin-zheng in #181
• Refactoring of the robotic surgery documentation to break out subfolders into focused READMEs by @mingxin-zheng in #185
• Improve Telesurgery documentation by @mingxin-zheng in #186
• Update telesurgery from VDR feedback by @wendell-hom in #188
• Update tags for v0.2.0rc3 for several packages by @mingxin-zheng in #187
• Address ssh key feedback from VDR by @wendell-hom in #189
• Post v0.2.0rc3 to release by @mingxin-zheng in #190
• Add what's new for v0.2.0 by @KumoLiu in #193
• Update Dependency Tags to 0.2.0 and Remove SSH Token Use by @mingxin-zheng in #192
• Post v0.2.0 to release by @mingxin-zheng in #194

New Contributors

• @guopengf made their first contribution in #129
• @tbirdso made their first contribution in #145

Full Changelog: v0.1.0...v0.2.0

v0.2.0rc3

What's Changed

• Update Pi0 and GR00TN1 model weights and Readme by @KumoLiu in #184
• Comprehensive documentation refractor for robotic ultrasound workflow by @mingxin-zheng in #181
• Refactoring of the robotic surgery documentation to break out subfolders into focused READMEs by @mingxin-zheng in #185
• Improve Telesurgery documentation by @mingxin-zheng in #186
• Update telesurgery from VDR feedback by @wendell-hom in #188
• Update tags for v0.2.0rc3 for several packages by @mingxin-zheng in #187
• Address ssh key feedback from VDR by @wendell-hom in #189
• Post v0.2.0rc3 to release by @mingxin-zheng in #190

Full Changelog: 0.2.0rc2...v0.2.0rc3

0.2.0rc2

What's Changed

• Refactor Holoscan Operators by @wendell-hom in #169
• Update transform_matrix and rot and pos factor in teleop with OpenXR by @KumoLiu in #161
• Update Instructions for Telesurgery Workflow by @mocsharp in #167
• Improve documentation by @jjomier in #173
• Update "Observations and Conclusion" part in evaluation folder by @KumoLiu in #166
• Pin the Isaac-GR00T repository to the n1-release branch and update related documentation and setup scripts by @KumoLiu in #178
• Update documentation by @jjomier in #179
• Fix Failure to Start Simulation LiveStream from Remote Docker Container by @mingxin-zheng in #175
• Rewrite the robotic surgery Dockerfile to fix livestream issues by @mingxin-zheng in #182
• Post release candidate 0.2.0rc2 by @mingxin-zheng in #183

Full Changelog: v0.2.0rc1...0.2.0rc2

v0.2.0rc1

What's Changed

• Fix dependency installation by @mingxin-zheng in #133
• Add Playback Recording Feature by @KumoLiu in #125
• Docker build for robotic surgery to enable webrtc streaming by @mingxin-zheng in #128
• Eval GR00T N1 model by @KumoLiu in #106
• Include cosmos transfer1 dependency by @KumoLiu in #134
• Make individual asset accessible by @mingxin-zheng in #126
• Improve documentation by @jjomier in #143
• Fix Cosmos Installation by @mingxin-zheng in #144
• Add docker build for robotic ultrasound by @mingxin-zheng in #131
• integrate cosmos-transfer1 + guided generation to I4H workflows by @guopengf in #129
• Add Virtual Incision MIRA teleoperate tutorial by @yiheng-wang-nv in #142
• Fix robot us docker build by @mingxin-zheng in #147
• Enhances sim_with_dds.py with HDF5 reset support and add a trajectory metrics evaluation pipeline. by @KumoLiu in #137
• Refactor lerobot format conversion and upgrade Isaaclab to v2.1.0 by @KumoLiu in #148
• allow choice of ultrasound probes matching raysim by @maximilianofir in #146
• Update MIRA tutorial to match up with new assets by @yiheng-wang-nv in #154
• Tutorial: Teleoperation with OpenXR Hand Tracking by @tbirdso in #145
• Enhances the test log printing with improved real-time output streaming by @mingxin-zheng in #160
• Telesurgery Workflow by @SachidanandAlle in #149
• Update default pi0 ckpt_path and documentation for the new weights by @KumoLiu in #162
• Temporary Solution for Segmentation Fault During Evaluation by @KumoLiu in #165
• Port main to release branch as preparation for v0.2.0rc1 by @mingxin-zheng in #163

New Contributors

• @guopengf made their first contribution in #129
• @tbirdso made their first contribution in #145

Full Changelog: v0.1.0...v0.2.0rc1

v0.1.0

[0.1.0] – 2025-04-30

Isaac for Healthcare (I4H) Workflows is now available, providing a modular and extensible foundation for building and testing AI-enabled healthcare robotics applications.

Added

Overview

• Initial release of Isaac for Healthcare Workflows
• Support for digital prototyping of healthcare robotic systems
• Simulated Data Collection capabilities for AI model training
• Hardware-in-the-loop (HIL) testing framework with NVIDIA Holoscan
• GPU-accelerated training for reinforcement and imitation learning

Robotic Surgery

• Digital twin capabilities for surgical robotics
• State Machine and Data Collection system
• Simulation tasks including reaching, dual-arm reaching, suture needle lift, and STAR arm reaching
• Reinforcement learning policy training and evaluation capabilities
• Operating Room (OR) scene setup with surgical tools and robots

Robotic Ultrasound Workflow

• Digital twin capabilities for ultrasound robotics
• DDS-based communication system
• Integration with Clarius Cast and Clarius Solum Ultrasound Apps
• Integration with Ultrasound raytracing simulator
• Camera RGB and depth data support and visualization tools
• Simulation of policy-driven ultrasound probe movements, state-machine driven data collection and teleoperation

Tutorials and Documentation

• Installation and environment setup guides
• Bring Your Own Robot (BYOR) tutorial with example CAD files
• Bring Your Own Patient (BYOP) tutorial
• Comprehensive workflow documentation
• Sim2Real deployment guide

Development Tools

• CI/CD pipeline with GitHub Actions
• Pre-commit hooks for code formatting
• Unit test framework with coverage reporting
• License header checking
• Code style enforcement (isort, ruff)
• Asset management system

Technical Details

• Compatible with IsaacSim 4.5.0 and IsaacLab 2.0.2
• Python 3.10 support
• Linux platform support
• Apache 2.0 License

v0.1.0rc1

What's Changed

• Adjust import order to suppress isort warnings by @mingxin-zheng in #81
• Update NOTICE.txt to include additional open source software licenses by @jjomier in #84
• Add a modifier requires_rti to cut down duplicated code in unit tests by @mingxin-zheng in #83
• [CI] Add integration test for robotic ultrasound workflow by @mingxin-zheng in #82
• Enhance asset download dir setting by @mingxin-zheng in #80
• Upgrade to IsaacSim 4.5 and IsaacLab 2.0.2 by @mingxin-zheng in #85
• Upgrade robotic surgery workflow to use IsaacSim 4.5 and IsaacLab 2.0.2 by @mingxin-zheng in #87
• Use tagged version and fix doc by @mingxin-zheng in #89

Full Changelog: v0.1.0ea...v0.1.0rc1

v0.1.0ea

Isaac for Healthcare (I4H) Workflows v0.1.0-EA

Welcome to the first Early Access(EA) release of the Isaac for Healthcare (I4H) Workflows!

We're excited to announce the initial release of Isaac for Healthcare Workflows, a domain-specific framework built on top of NVIDIA Isaac Sim/Lab and NVIDIA Omniverse.

New Features

• Robotic Ultrasound Workflow

  • Simulation environment for robotic ultrasound procedures
  • Integration with Raytracing Ultrasound Simulator
  • Policy runner for executing trained models
  • Training Pi Zero model for robotic ultrasound applications
  • Holoscan applications for real-time processing
  • Visualization utilities

• Robotic Surgery Workflow

  • Simulation environment for surgical robotics
  • Support for dVRK and STAR robot arm control
  • Suture needle manipulation tasks
  • Peg block manipulation tasks
  • Reinforcement learning capabilities

• Tutorials

  • Bring your own patient
  • Bring your own robot

Known Limitations

• This is an initial release focused on establishing core functionality
• Some features may require further refinement
• Documentation is still being developed