I2RT YAM Arm

A low-cost 6-DOF research robot arm from I2RT, commonly paired up for bimanual data collection.

YAM is a 6-degree-of-freedom robot arm from the U.S. startup I2RT Robotics, built around a CAN bus and aimed at embodied-AI research and data collection. It comes in Standard, Pro, and Ultra tiers plus a higher-payload BIG YAM variant; the Pro, for example, has a rated payload of about 3 kg, a working range of about 750 mm, and a parallel-jaw gripper with roughly 95 mm of opening width. Pricing runs in the low thousands of dollars (I2RT lists about $3,000–5,000, with the Pro at $3,499) — roughly an order of magnitude cheaper than a traditional research arm like Franka's, while being sturdier than servo-driven arms like the SO-101. It's often paired up two at a time into bimanual platforms, with one arm teleoperated as a leader and the other following, to record demonstration data. The BimanualYAM dataset that Ai2 released was collected this way.

ExampleAi2 builds a bimanual platform out of two YAM arms and uses it to collect the MolmoAct2-BimanualYAM dataset.

Also called

YAM, YAM Arm

Related

Robotic Arm · Dual-arm Robot · Leader-Follower Teleoperation · MolmoAct2-BimanualYAM · Desktop Robot Arm

Sources

YAM Arm Series | I2RT Robotics
YAM Pro – I2RT Robotics

As of

2026-09