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license: mit
tags:
- robotics
- isaac-lab
- xarm
- teleoperation
---
# Residual Copilot — Data
Teleoperation demonstration data for [Residual Shared Autonomy](https://github.com/shuosha/Residual_Shared_Autonomy). Used by the kNN pilot for nearest-neighbor action retrieval and for sampling episode initial states during environment resets.
## Contents
```
teleop/
├── gearmesh_train_data.npy # GearMesh teleop trajectories
├── peginsert_train_data.npy # PegInsert teleop trajectories
├── nutthread_train_data.npy # NutThread teleop trajectories
├── *_train_data_aug.npy # Augmented versions (with noise/perturbations)
└── *_train_data_aug_meta.json # Augmentation metadata
```
Each `.npy` file is a dictionary keyed by episode ID. Each episode contains `obs.fingertip_pos`, `obs.fingertip_quat`, `obs.fingertip_pos_rel_fixed`, `obs.fingertip_pos_rel_held`, and action trajectories.
For DiffusionPolicy BC training, use the separate LeRobot-format datasets instead (e.g., `shashuo0104/0126_gearmesh_expert_2000`).
## Usage
Data is auto-downloaded at runtime via `resolve_hf()`. See [the main repo](https://github.com/shuosha/Residual_Shared_Autonomy) for setup instructions.
## Related
| Repo | Type | Contents |
|------|------|----------|
| [residual_copilot_assets](https://huggingface.co/datasets/shashuo0104/residual_copilot_assets) | dataset | Robot URDF/USD and object meshes |
| [residual_copilot_models](https://huggingface.co/shashuo0104/residual_copilot_models) | model | BC pilot + RL residual copilot checkpoints |
|