> ## Documentation Index
> Fetch the complete documentation index at: https://docs.reactor.inc/llms.txt
> Use this file to discover all available pages before exploring further.

> ## Agent Instructions
> To build and serve your own model, start at /deploy/development/quickstart and /deploy/development/overview. Deploying is the default path: reactor init scaffolds a workspace, reactor auth login authenticates, and reactor model deploy registers the model, publishes the release with the weights/ folder, and activates it on Reactor's GPUs, in one command from that workspace. Docker must be running, because the publish step builds the image locally. Bump model.version in reactor.yaml before redeploying a change, because a release that already has an image is reactivated as it is. Deployment access is granted per account, so contact team@reactor.inc if a deploy is refused. Every key in reactor.yaml is documented at /deploy/platform/reactor-yaml. Model code imports reactor_runtime; Python client code imports reactor_sdk. The runtime overview explains the model interface. Running the model on your own machine with reactor run is optional and needs a GPU you attach with --gpus; /deploy/development/local-testing covers that loop and pairs a complete brightness model with a Python client test in a separate brightness-test workspace.
> Reactor hosts multiple models, each with its own connect slug (modelName) and command/event schema. The video model catalog — slug, typed SDK package, and links to its schema — is at /model-api-reference/overview. Robotics policy documentation starts at /robotics/overview; X-WAM observations, actions, and client integration are under /robotics/xwam/; Cosmos3 Nano Policy DROID is under /robotics/cosmos/nano-policy-droid/. Some models expose one slug per experience (e.g. HappyOyster); always take the slug from the model's own pages, never guess it.
> Fastest path to a working app: `npx create-reactor-app my-app --model=<slug>` scaffolds a complete app with secure auth wired up. Typed TypeScript SDKs are published as @reactor-models/<model>; Python uses the base reactor-sdk package.
> Auth: exchange an API key (rk_...) for a JWT via POST https://api.reactor.inc/tokens from your server. Never put the API key in client-side code.
> Append .md to any docs URL for clean Markdown. Search these docs via the MCP server at https://docs.reactor.inc/mcp.

# X-WAM

> Bimanual manipulation with the RoboTwin fine-tuned X-WAM checkpoint.

X-WAM predicts action chunks from three camera views, the current end-effector poses and gripper
states, and a language instruction. Reactor's endpoint returns actions and predicted robot states;
it does not return generated video.

## Variant and compatibility

| Property | Value |
| - | - |
| Model identifier | `reactor/xwam` |
| Family | [X-WAM](https://github.com/sharinka0715/X-WAM) |
| Checkpoint | [`robotwin_sft`](https://huggingface.co/sharinka0715/X-WAM-checkpoints/tree/main/robotwin_sft), RoboTwin fine-tuned |
| Reference embodiment | RoboTwin 2.0 `aloha-agilex`: two arms, two grippers, head and wrist cameras |
| Action representation | End-effector translation, axis-angle rotation, and gripper deltas for both arms |
| Prediction horizon | 32 control steps; 14 values per step |
| Request mode | One outstanding request, one matching action reply |
| Documented model release | `0.3.2`; see [release notes](/robotics/xwam/robotwin/changelog) |

The model identifier selects this hosted variant. It is not a checkpoint-selection parameter: the
upstream pretrained and RoboCasa checkpoints are not interchangeable with this contract.

| Path | What is provided |
| - | - |
| First actions | A runnable Python client using synthetic observations |
| Simulation | A gateway for the upstream RoboTwin 2.0 evaluation client |
| Physical robot | The observation/action contract and integration guidance; no validated hardware driver is supplied by these examples |

The simulation configuration does not establish physical robot compatibility, including for hardware
with a similar arm layout. Camera geometry, coordinate frames, gripper conventions, and the
checkpoint's training distribution still matter.

## Use the model

Start with [Get your first actions](/robotics/xwam/robotwin/quickstart), then choose
[simulation](/robotics/xwam/robotwin/simulation) or
[robot integration](/robotics/xwam/robotwin/integration). The
[reference](/robotics/xwam/robotwin/reference) specifies every input and output field.

The reference clients are in the public
[simulator examples in Reactor’s public cookbook](https://github.com/reactor-team/reactor-cookbook/tree/main/robotics/sim).
Contact [Reactor](mailto:team@reactor.inc) if you need hosted model access.


This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.