HapticWAM release (arXiv:2609.23888)

.gitattributes

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README.md

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+---
+license: apache-2.0
+library_name: pytorch
+tags:
+- robotics
+- tactile
+- manipulation
+- world-model
+pipeline_tag: robotics
+---
+
+# HapticWAM teacher
+
+> **HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing**
+> — paper [arXiv:2609.23888](https://arxiv.org/abs/2609.23888), submitted to **ICRA 2027**.
+> Code: [github.com/Advanced-Robotic-Manipulation/HapticWAM](https://github.com/Advanced-Robotic-Manipulation/HapticWAM) · all repos: [HapticWAM — ICRA 2027](https://huggingface.co/collections/armteam/hapticwam-icra-2027-6ab234bdfe24c383b5f9fb57).
+
+The tactile world-action-model **teacher**: the full-input model that sees the fingertip
+tactile streams and is distilled into the deployed student.
+
+**The checkpoint the paper deploys is `teacher_v6_simft/teacher_002000.pt`.**
+
+## Folders
+
+| Folder | Files | Size | What it is |
+|---|---|---|---|
+| `teacher_v6_simft/` | 1 | 0.39 GB | **the deployed teacher.** `teacher_002000.pt`, v6 fine-tuned on simulation plus rig rollouts, 2,000 steps. |
+| `teacher_v6/` | 10 | 0.79 GB | the v6 teacher before the sim fine-tune: `teacher_019000.pt`, `teacher_020000.pt`, the training log `train_v6.log`, and `eval/` with seven evaluation JSONs (steps 18k/19k/20k at NFE 1 and 5, plus a v5.6 comparison). `teacher_020000.pt` is the arm that runs on the rig as the teacher-only condition. |
+| `eval/` | 4 | — | teacher evaluations at NFE 1 and 5 (`v6_teacher_nfe1`, `v6_teacher_nfe5`), each a JSON plus its log. |
+| `text_embeddings.pt` | 1 | 0.82 GB | the Cosmos text-embedding cache for the task prompts. Not a checkpoint: it is a precomputed **input** that the provisioning scripts download next to the teacher and place at `data/phantom-episodes/tasks/`. It is regenerable from the prompts, and it is kept here so that provisioning reads one repo rather than two. |
+
+`index.jsonl` lists every file here with its size, LFS sha256 and the path it was copied from.
+
+## Training data
+
+Trained on [`armteam/hapticwam-teleop-dataset`](https://huggingface.co/datasets/armteam/hapticwam-teleop-dataset),
+**1,115 teleoperation episodes** indexed by `manifests_v6.tar`. The sim fine-tune additionally
+uses simulation episodes and the rig rollouts in
+[`armteam/hapticwam-rollouts`](https://huggingface.co/datasets/armteam/hapticwam-rollouts).
+
+## Part of the HapticWAM release
+
+Ten repos on the hub, gathered in the [HapticWAM — ICRA 2027 collection](https://huggingface.co/collections/armteam/hapticwam-icra-2027-6ab234bdfe24c383b5f9fb57).
+
+| Repo | Kind | Holds |
+|---|---|---|
+| `armteam/hapticwam-teacher` **← you are here** | 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`](https://huggingface.co/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`](https://huggingface.co/armteam/hapticwam-baselines) | model | the pi0.5, Diffusion Policy and X-VLA baselines at the deployed steps |
+| [`armteam/hapticwam-ablations`](https://huggingface.co/armteam/hapticwam-ablations) | model | every training arm that is not deployed, and the complete evaluation sweeps |
+| [`armteam/hapticwam-teleop-dataset`](https://huggingface.co/datasets/armteam/hapticwam-teleop-dataset) | dataset | the training corpus — 1,115 teleoperated episodes, packed per task |
+| [`armteam/hapticwam-teleop-raw`](https://huggingface.co/datasets/armteam/hapticwam-teleop-raw) | dataset | the same teleoperation as loose, as-recorded sessions (provenance) |
+| [`armteam/hapticwam-sim-episodes`](https://huggingface.co/datasets/armteam/hapticwam-sim-episodes) | dataset | Isaac Sim expert episodes, used for the sim fine-tune |
+| [`armteam/hapticwam-rig-episodes`](https://huggingface.co/datasets/armteam/hapticwam-rig-episodes) | dataset | the closed-loop rig takes the reported numbers are computed from |
+| [`armteam/hapticwam-rollouts`](https://huggingface.co/datasets/armteam/hapticwam-rollouts) | dataset | policy-driven rollouts — the DAgger rounds and the deploy days |
+| [`armteam/hapticwam-evidence`](https://huggingface.co/datasets/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](https://github.com/Advanced-Robotic-Manipulation/HapticWAM).
+
+## Licence
+
+Model weights and the HapticWAM code: **Apache-2.0**. The datasets listed above: **CC-BY-4.0**.

eval/v6_teacher_nfe1.log

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+/workspace/phantom-hid/phantom/tools/terminal_eval.py:372: UserWarning: hardware.yaml has real drivers enabled but meta.bench_verified=false — run docs/hardware_bench_day1.md and fill the BENCH fields first.
+  hw = load_hardware(args.hardware)
+null semantics: {"mode": "none", "gt_contact_package": "zeroed", "contact_frames": "co_denoised_from_noise", "contact_frames_pinned_to": null, "batch_streams_zeroed": [], "prev_cpk": "as_sampled", "is_deploy_condition": true}
+[09-08 22:56:09|INFO|cosmos-predict2.5/cosmos_predict2/_src/predict2/action/networks/action_conditioned_minimal_v1_lvg_dit.py:217:__init__] hidden_dim_in_action_embedder: 8192
+[09-08 22:56:15|INFO|cosmos-predict2.5/cosmos_predict2/_src/predict2/tokenizers/wan2pt1.py:669:_video_vae] loading /workspace/phantom-hid/cosmos-predict2.5-2b/tokenizer.pth
+hardware config VALUES differ from checkpoint provenance (shape-compatible — proceeding)
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+episodes skipped (no close / chunk cannot span the close): 0
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+}

eval/v6_teacher_nfe5.log

@@ -0,0 +1,246 @@
+/workspace/phantom-hid/phantom/tools/terminal_eval.py:372: UserWarning: hardware.yaml has real drivers enabled but meta.bench_verified=false — run docs/hardware_bench_day1.md and fill the BENCH fields first.
+  hw = load_hardware(args.hardware)
+null semantics: {"mode": "none", "gt_contact_package": "zeroed", "contact_frames": "co_denoised_from_noise", "contact_frames_pinned_to": null, "batch_streams_zeroed": [], "prev_cpk": "as_sampled", "is_deploy_condition": true}
+[09-08 23:07:54|INFO|cosmos-predict2.5/cosmos_predict2/_src/predict2/action/networks/action_conditioned_minimal_v1_lvg_dit.py:217:__init__] hidden_dim_in_action_embedder: 8192
+[09-08 23:08:00|INFO|cosmos-predict2.5/cosmos_predict2/_src/predict2/tokenizers/wan2pt1.py:669:_video_vae] loading /workspace/phantom-hid/cosmos-predict2.5-2b/tokenizer.pth
+hardware config VALUES differ from checkpoint provenance (shape-compatible — proceeding)
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+episodes skipped (no close / chunk cannot span the close): 0
+{
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+}

index.jsonl

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