title: armteam
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Advanced Robotic Manipulation
Models, datasets and evaluation artifacts for contact-rich robot manipulation — tactile sensing, world-action models and real-robot evaluation on a UR3 with optical-tactile fingertips.
HapticWAM — Distilling Imagined Touch into a World–Action Model without Inference-Time Tactile Sensing
A tactile world-action model whose teacher sees optical-tactile fingertips and generates a structured contact package alongside its action chunk; the fingertip inputs are then distilled away, so a pad-free student keeps imagining contact from vision, proprioception and wrist force/torque alone.
📄 Paper (arXiv:2609.23888) · 🌐 Project page · 💻 Code · 📦 Collection: everything in one place
Models — teacher · student (deployed, pad-free) · baselines · ablations
Datasets — teleop (packed training corpus) · teleop raw · sim episodes · rig episodes · rollouts · results
HapticVLA / Crab
Tactile-aware vision-language-action models and the bimanual mobile platform they run on. 💻 Code · models: left arm · right arm · RWFM · HapticVLA