---
license: mit
tags:
  - robotics
  - isaac-lab
  - xarm
  - reinforcement-learning
  - diffusion-policy
---

# Residual Copilot — Models

Policy checkpoints for [Residual Shared Autonomy](https://github.com/shuosha/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](https://github.com/shuosha/Residual_Shared_Autonomy) for evaluation instructions.

```bash
# Evaluate residual copilot with noisy kNN pilot
python scripts/play.py --task GearMesh --pilot kNNPilot --copilot ResidualCopilot
```

## Related

| Repo | Type | Contents |
|------|------|----------|
| [residual_copilot_assets](https://huggingface.co/datasets/shashuo0104/residual_copilot_assets) | dataset | Robot URDF/USD and object meshes |
| [residual_copilot_data](https://huggingface.co/datasets/shashuo0104/residual_copilot_data) | dataset | Teleoperation training data (.npy) |