armteam/hapticwam-student

HapticWAM student

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 distilled student: the model that runs on the rig. It is distilled from the HapticWAM teacher and takes pad-free inputs, so it does not need the fingertip tactile streams at inference time.

The checkpoint the paper deploys is hid_simft/student_001000.pt.

Folders

Folder	Files	Size	What it is
hid_simft/	6	1.49 GB	the deployed student. Steps 250 / 500 / 750 / 1000, plus the distillation logs distill_A.log and extend_A.log. Distilled from teacher_v6_simft/teacher_002000.pt.
hid_ftA_r2_nowrist/	5	1.49 GB	the wrist-masked (sensor-free) student arm, steps 500–2000, log stage4_nowrist.log. Distilled from the ftA teacher.
hid_ftA_r2_nowrist_cont/	6	1.49 GB	the continuation of that arm, steps 2500–4000, logs cont_nowrist_b.log and stage5.log.
eval/	24	—	evaluations of exactly the checkpoints above: hid_simft_student_* at each rung, and nowrist_student_* / nowrist_cont_student_* at each rung. JSON plus log for each.

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

Which arm is which

hid_simft is the deployed arm and the one every headline number refers to. The two nowrist folders are the sensor-free ablation: the same distillation recipe with the wrist tactile input masked out. They were evaluated offline and never run on the rig.

Teacher and data

Teacher: armteam/hapticwam-teacher. Data: armteam/hapticwam-teleop-dataset, 1,115 episodes, manifests_v6.tar, plus the rig rollouts in armteam/hapticwam-rollouts.

The eval files here are the subset that scores the checkpoints in this repo. The complete sweeps, including every arm that is not in this repo, live in armteam/hapticwam-ablations.

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 ← you are here	model	the distilled pad-free student, the model that runs on the rig. Deployed checkpoint hid_simft/student_001000.pt
armteam/hapticwam-baselines	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.