I2RT YAM
I2RT's compact CNC-machined research arm: 2 kg nominal payload, 750 mm workspace, 5.02 kg including gripper. LeRobot reaches it through the third-party lerobot_yam plugin suite (follower plus GELLO-style leader). I2RT also has a separate active, force-feedback YAM leader plugin.
LeRobot pluginverified 2026-10-24aka YAM, YAM arm, I2RT YAM arm, yam_follower
Policies on I2RT YAM 8 with evidence · 1 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| Diffusion Policy Imitation | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| GR00T N1.7 VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| MolmoAct2 VLA | works | T1 · upstream documented | 2026-10-24 1d ago | |
| OpenVLA-OFT VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested (evidence is a baseline in the MolmoAct2 paper, not the OpenVLA-OFT authors). |
| π0.5 VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| SmolVLA VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| VLA-JEPA VLA | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
No verified evidence, but both are available in LeRobot (ecosystem context): EO-1, Evo-1, Fast-WAM, HIL-SERL, LingBot-VA, Multitask DiT, π0-FAST, π0, TD-MPC, VQ-BeT, WALL-OSS, X-VLA.
Not yet verified: OpenVLA. Have evidence?
Specifications
- Payload
- ?–2000 gsrc
- Price (USD)
- $2999 (YAM with gripper, I2RT store list price. Edu and bulk discounts are available via sales.)src
- Homepage
- i2rt.com/products/yam-6-dof-arm
- Teleoperation
- GELLO-style YAM leader (yam_leader), I2RT active YAM leader (lerobot_teleoperator_yamactiveleader)
DoF is not recorded because the product page states it only in the URL slug ('yam-6-dof-arm'), not in its text.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | yam_follower | docs |
| LeRobot: Third-party plugin suite (MIT): lerobot_robot_yam (yam_follower) and lerobot_teleoperator_yam_gello (yam_leader), on PyPI as lerobot-robot-yam. Needs a CAN interface. Also listed: lerobot_teleoperator_yamactiveleader for I2RT's bilateral force-feedback leader. | ||||
Sources
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot third-party page lists lerobot_yam (yam_follower / yam_leader).
“robot arm <code>yam_follower</code> and teleoperator arm <code>yam_leader</code>.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
Plugin registers robot type yam_follower (package lerobot_robot_yam).
https://github.com/pravsels/lerobot_yam/blob/1626d68e0d3bb4116653daad0719e96ab607795e/lerobot_robot_yam/lerobot_robot_yam/config_yam_follower.py - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
I2RT YAM: nominal payload 2 kg, 750 mm workspace, 5.02 kg with gripper.
“Nominal Payload: 2 kg Max. workspace range: 750 mm Arm weight (including gripper): 5.02 kg”
https://i2rt.com/products/yam-6-dof-arm - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
I2RT store: YAM with gripper $2,999.00.
“Regular price $2,999.00”
https://i2rt.com/products/yam-6-dof-arm