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| title: armteam |
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| # Advanced Robotic Manipulation |
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| 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. |
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| ## HapticWAM — *Distilling Imagined Touch into a World–Action Model without Inference-Time Tactile Sensing* |
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| 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. |
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| 📄 [Paper (arXiv:2609.23888)](https://arxiv.org/abs/2609.23888) · |
| 🌐 [Project page](https://advanced-robotic-manipulation.github.io/websites/hapticwam/) · |
| 💻 [Code](https://github.com/Advanced-Robotic-Manipulation/HapticWAM) · |
| 📦 [Collection: everything in one place](https://huggingface.co/collections/armteam/hapticwam-icra-2027-6ab234bdfe24c383b5f9fb57) |
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| **Models** — [teacher](https://huggingface.co/armteam/hapticwam-teacher) · |
| [student (deployed, pad-free)](https://huggingface.co/armteam/hapticwam-student) · |
| [baselines](https://huggingface.co/armteam/hapticwam-baselines) · |
| [ablations](https://huggingface.co/armteam/hapticwam-ablations) |
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| **Datasets** — [teleop (packed training corpus)](https://huggingface.co/datasets/armteam/hapticwam-teleop-dataset) · |
| [teleop raw](https://huggingface.co/datasets/armteam/hapticwam-teleop-raw) · |
| [sim episodes](https://huggingface.co/datasets/armteam/hapticwam-sim-episodes) · |
| [rig episodes](https://huggingface.co/datasets/armteam/hapticwam-rig-episodes) · |
| [rollouts](https://huggingface.co/datasets/armteam/hapticwam-rollouts) · |
| [results](https://huggingface.co/datasets/armteam/hapticwam-results) |
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| ## HapticVLA / Crab |
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| Tactile-aware vision-language-action models and the bimanual mobile platform they run on. |
| 💻 [Code](https://github.com/Advanced-Robotic-Manipulation/crab) · |
| models: [left arm](https://huggingface.co/armteam/crab-smolvla-left-arm) · |
| [right arm](https://huggingface.co/armteam/crab-smolvla-right-arm) · |
| [RWFM](https://huggingface.co/armteam/crab-smolvla-rwfm) · |
| [HapticVLA](https://huggingface.co/armteam/crab-smolvla-hapticsvla) |
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