Bimanual Yam

• 2 RealsenseAI D405 wrist cameras and 1 D405 Overhead (note this is easily changeable to d4555 or d435i)
• Works out of the box with MolmoAct2-Bimanual-Yam checkpoint configuration

yam_dual_3realsense.yaml

Bimanual Yam w/ Immersive Neck

• 2 RealsenseAI D405 wrist cameras and 1 Zed2 Mini cameras.
• This config uses NVENC which is only available on amd64-cu13 containers

yam_dual_zed_immersive.yaml

Bimanual Trossen WXAI

• 2 RealsenseAI D405 wrist cameras and 1 D405 Overhead (note this is easily changeable to d4555 or d435i)

trossen_dual_3realsense.yaml

Bimanual Trossen WXAI w/ Immersive Neck

• 2 RealsenseAI D405 wrist cameras and 1 Zed2 Mini cameras.
• This config uses NVENC which is only available on amd64-cu13 containers

trossen_dual_zed_immersive.yaml