---
license: apache-2.0
library_name: pytorch
tags:
- robotics
- tactile
- manipulation
- distillation
pipeline_tag: robotics
---

# HapticWAM student

> **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 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`](https://huggingface.co/armteam/hapticwam-teacher).
Data: [`armteam/hapticwam-teleop-dataset`](https://huggingface.co/datasets/armteam/hapticwam-teleop-dataset),
1,115 episodes, `manifests_v6.tar`, plus the rig rollouts in
[`armteam/hapticwam-rollouts`](https://huggingface.co/datasets/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](https://huggingface.co/collections/armteam/hapticwam-icra-2027-6ab234bdfe24c383b5f9fb57).

| Repo | Kind | Holds |
|---|---|---|
| [`armteam/hapticwam-teacher`](https://huggingface.co/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`](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**.