Residual-Copilot
Collection
Datasets and checkpoints used for the paper: Efficient and Reliable Teleoperation through Real-to-Sim-to-Real Shared Autonomy • 9 items • Updated
• 2
Dataset Viewer
The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code: FeaturesError
Exception: ArrowInvalid
Message: Schema at index 1 was different:
board2cam: struct<wrist: list<item: list<item: double>>, front: list<item: list<item: double>>>
wristcam2ee: list<item: list<item: double>>
ee2base: list<item: list<item: double>>
cam2cam: struct<wrist2front: list<item: list<item: double>>>
cam2base: struct<wrist2base: list<item: list<item: double>>, front2base: list<item: list<item: double>>>
vs
wrist: struct<width: int64, height: int64, ppx: double, ppy: double, fx: double, fy: double, model: string, coeffs: list<item: double>>
front: struct<width: int64, height: int64, ppx: double, ppy: double, fx: double, fy: double, model: string, coeffs: list<item: double>>
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 243, in compute_first_rows_from_streaming_response
iterable_dataset = iterable_dataset._resolve_features()
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 3608, in _resolve_features
features = _infer_features_from_batch(self.with_format(None)._head())
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2368, in _head
return next(iter(self.iter(batch_size=n)))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2573, in iter
for key, example in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2060, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2082, in _iter_arrow
yield from self.ex_iterable._iter_arrow()
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 604, in _iter_arrow
yield new_key, pa.Table.from_batches(chunks_buffer)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "pyarrow/table.pxi", line 5039, in pyarrow.lib.Table.from_batches
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: Schema at index 1 was different:
board2cam: struct<wrist: list<item: list<item: double>>, front: list<item: list<item: double>>>
wristcam2ee: list<item: list<item: double>>
ee2base: list<item: list<item: double>>
cam2cam: struct<wrist2front: list<item: list<item: double>>>
cam2base: struct<wrist2base: list<item: list<item: double>>, front2base: list<item: list<item: double>>>
vs
wrist: struct<width: int64, height: int64, ppx: double, ppy: double, fx: double, fy: double, model: string, coeffs: list<item: double>>
front: struct<width: int64, height: int64, ppx: double, ppy: double, fx: double, fy: double, model: string, coeffs: list<item: double>>Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Residual Copilot — Assets
Robot and object mesh files for Isaac Lab simulation, part of Residual Shared Autonomy.
Contents
robot/
├── xarm7_gripper.usd # XArm 7 + gripper USD (Isaac Lab ArticulationCfg)
├── xarm7.urdf # XArm 7 URDF (Pinocchio IK solver)
└── meshes/ # Visual/collision meshes referenced by URDF
objects/
├── m36_nut.usd # M36 nut USD (NutThread task)
├── m36_bolt.usd # M36 bolt USD (NutThread task)
├── gear.obj # Gear OBJ mesh (GearMesh task)
├── gear_base.obj # Gear base OBJ mesh (GearMesh task)
├── nut.obj # Nut OBJ mesh (NutThread task)
├── nut_base.obj # Nut base OBJ mesh (NutThread task)
├── peg.obj # Peg OBJ mesh (PegInsert task)
└── peg_base.obj # Peg base OBJ mesh (PegInsert task)
cameras/
├── extrinsics.json # Camera-to-base extrinsic calibration
└── intrinsics.json # Camera intrinsic parameters
GearMesh and PegInsert USD assets use NVIDIA Isaac Sim built-in Factory meshes. The .obj files are standalone meshes for visualization and real-world 3D printing.
Usage
Assets are auto-downloaded at runtime via resolve_hf(). See the main repo for setup instructions.
Related
| Repo | Type | Contents |
|---|---|---|
| residual_copilot_models | model | BC pilot + RL residual copilot checkpoints |
| residual_copilot_data | dataset | Teleoperation training data (.npy) |
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