armteam/hapticwam-baselines

HapticWAM baselines

HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing — paper arXiv:2609.23888, submitted to ICRA 2027. Code: github.com/Advanced-Robotic-Manipulation/HapticWAM · all repos: HapticWAM — ICRA 2027.

The three baseline policies the HapticWAM student is compared against, at the exact steps the paper deploys, plus the evaluation sweeps that chose those steps.

Folder	Files	Size	Baseline	Deployed checkpoint
diffusion_100k/	7	1.05 GB	Diffusion Policy	pretrained_model/ at 100k steps
xvla_20k/	7	1.76 GB	X-VLA 0.9B	pretrained_model/ at 20k steps
pi05_phantom_expert_v1/	18	9.69 GB	pi0.5 expert fine-tune	020000/pretrained_model/
eval_baselines/	10	1.2 MB	evaluation JSONs, see below
eval_pi05/	11	1.2 MB	pi0.5 step-selection sweep

index.jsonl lists every file here with its size, LFS sha256 and the path it was copied from.

What the eval files cover

eval_baselines/ holds the diffusion-policy sweep (eval_dp_025000 … eval_dp_100000) and the X-VLA sweep (eval_xvla_005000 … eval_xvla_020000), which is how 100k and 20k were chosen. It also holds A_visiononly_nfe1.json and B_nodistill_nfe1.json. Those two score the vision-only and no-distillation Cosmos arms, whose checkpoints live in armteam/hapticwam-ablations rather than here; they are kept together because they are one baseline table in the paper.

eval_pi05/ holds the step sweep for the pi0.5 expert. The deployed pi0.5 arm is step 20000 (pi05_020000_terminal.json). The eval_resume_* files score a run that was resumed to 60k steps; that checkpoint is not deployed and lives in armteam/hapticwam-ablations as pi05_phantom_expert_v1_resume60k/.

pi05_phantom_expert_v1/ also carries 020000/training_state/ (optimizer and scheduler state, 2.2 GB) and paligemma_tokenizer/, both needed to resume or to run the policy.

Data

All three baselines were trained on armteam/hapticwam-teleop-dataset. Models: armteam/hapticwam-teacher, armteam/hapticwam-student.

Part of the HapticWAM release

Ten repos on the hub, gathered in the HapticWAM — ICRA 2027 collection.

Repo	Kind	Holds
armteam/hapticwam-teacher	model	the tactile-input teacher. Deployed checkpoint teacher_v6_simft/teacher_002000.pt; also holds the Cosmos prompt cache text_embeddings.pt
armteam/hapticwam-student	model	the distilled pad-free student, the model that runs on the rig. Deployed checkpoint hid_simft/student_001000.pt
armteam/hapticwam-baselines ← you are here	model	the pi0.5, Diffusion Policy and X-VLA baselines at the deployed steps
armteam/hapticwam-ablations	model	every training arm that is not deployed, and the complete evaluation sweeps
armteam/hapticwam-teleop-dataset	dataset	the training corpus — 1,115 teleoperated episodes, packed per task
armteam/hapticwam-teleop-raw	dataset	the same teleoperation as loose, as-recorded sessions (provenance)
armteam/hapticwam-sim-episodes	dataset	Isaac Sim expert episodes, used for the sim fine-tune
armteam/hapticwam-rig-episodes	dataset	the closed-loop rig takes the reported numbers are computed from
armteam/hapticwam-rollouts	dataset	policy-driven rollouts — the DAgger rounds and the deploy days
armteam/hapticwam-evidence	dataset	per-take evidence behind the paper's tables — scored CSVs, probe JSONs, figures

Code, training and deployment scripts: github.com/Advanced-Robotic-Manipulation/HapticWAM.

Licence

Model weights and the HapticWAM code: Apache-2.0. The datasets listed above: CC-BY-4.0.