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
Residual Copilot — Models
Policy checkpoints for Residual Shared Autonomy. Includes BC pilot models (DiffusionPolicy), RL residual copilot policies, and standalone autonomous baselines.
Contents
shared_autonomy_policies/
├── bc_teleop/ # DiffusionPolicy pilots trained on teleop data
│ ├── GearMesh_bc_teleop/
│ ├── PegInsert_bc_teleop/
│ └── NutThread_bc_teleop/
├── bc_expert/ # DiffusionPolicy pilots trained on expert data
│ ├── GearMesh_bc_expert/
│ ├── PegInsert_bc_expert/
│ └── NutThread_bc_expert/
└── residual_copilot/ # RL residual copilot policies (RL-Games PPO)
├── {Task}_noisy_knn/nn/FactoryXarm.pth # Trained with noisy kNN pilot
└── {Task}_bc_teleop/nn/FactoryXarm.pth # Trained with BC teleop pilot
autonomous_policies/ # Standalone DiffusionPolicy baselines (no residual)
├── dp_teleop_data_match_succ/
│ └── gear_mesh_ckpt_30k/
├── dp_teleop_data_match_trials/
│ └── gear_mesh_ckpt_30k/
├── dp_residual_data_match_succ/
│ └── gear_mesh_ckpt_30k/
└── dp_residual_data_match_trials/
└── gear_mesh_ckpt_30k/
Usage
Models are auto-downloaded at runtime via resolve_hf(). See the main repo for evaluation instructions.
# Evaluate residual copilot with noisy kNN pilot
python scripts/play.py --task GearMesh --pilot kNNPilot --copilot ResidualCopilot
Related
| Repo | Type | Contents |
|---|---|---|
| residual_copilot_assets | dataset | Robot URDF/USD and object meshes |
| residual_copilot_data | dataset | Teleoperation training data (.npy) |