DreamZero YAM

This endpoint serves Robocurve’s DreamZero YAM checkpoint, a fine-tune of DreamZero-AgiBot on MolmoAct2 BimanualYAM observations and actions.

Property	Contract
Model identifier	`reactor/dreamzero-yam-molmoact2`
Documented model release	`1.1.0`; see release notes
Embodiment	Two YAM arms, six joints and one gripper per arm
Inputs	`top`, `left`, `right`; measured joints and grippers for both arms; task
Output	`action_chunk` with `(24, 14)` actions
Row order	Left six joints, left gripper, right six joints, right gripper
Joint representation	Absolute radians for each arm whose measured state is supplied

The molmoact2 suffix identifies the fine-tuning dataset; this endpoint runs the DreamZero model family. Its contract differs from both DreamZero DROID and other models trained on that dataset. The checkpoint’s published open-loop evaluation does not establish closed-loop hardware success. Start with Get your first actions. No simulator or local model weights are needed for that check. There is currently no packaged YAM simulator gateway in the reference examples; see simulation for the adapter boundary and robot integration for the control loop.

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