YAM

YAM is an affordable robot arm from I2RT Robotics, available in a base variant (6 degrees of freedom) and as YAM 7 (7 DOF), including a bimanual YAM 7 Duo configuration. The 6-DOF version costs about $2,999, making it one of the cheaper precision research manipulators.

The design is built around I2RT's proprietary compact actuators, integrating a brushless motor, precision reducer, encoder, and drive electronics; every joint has cross-roller bearings and minimal backlash for good repeatability.

YAM is used mainly for imitation learning and behavior cloning (including with the open-source ABC stack), for teleoperation (dedicated teleoperation stations), and for foundation-model training in robotics. The platform underpinned research in collaboration with UC Berkeley, Amazon FAR, and XDOF.