HapticWAM student
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.
Licence
Apache-2.0.