runwayml/praxis-1-yam

Praxis-1 YAM

Praxis-1 policy fine-tuned for the bimanual YAM rig: two YAM arms, a top camera and two wrist cameras.

Model	27.2B-parameter MoE video-diffusion policy: chunk-causal trunk + 0.3B action expert
Frozen dependencies (not in this repo)	Wan2.2 VAE, Qwen/Qwen3.5-2B text encoder
Embodiment	bimanual, cameras top_left (top) + wrist_left + wrist_right
Canvas	three 256x416 tiles side by side (256x1248), 16:10 views
Control	15 Hz, 24-step action chunks
Action space	20-D [L: xyz(3) rot6d(6) grip(1) | R: same], each arm relative to its own chunk-start pose; grippers absolute
Pose frame	rig (world frame of the rig, no conversion)
Weights	bf16, 54.4 GB, 17 safetensors shards (model.safetensors.index.json)

Normalization statistics and the action codec are in config.json; no dataset statistics are needed at inference time.

Prompts go to the text encoder verbatim. The checkpoint was trained on captions such as "Pick up the pen from the center of the table, then place the pen in the bag" (no closing period), so send prompts in that form.

Files

• config.json: praxis model config (model_type: praxis, format_version: 2)
• model-000NN-of-00017.safetensors + model.safetensors.index.json: sharded weights
• SHA256SUMS: checksums for every file above

Usage

from huggingface_hub import snapshot_download

path = snapshot_download("runwayml/praxis-1-yam")

Load path with runwayml/praxis-1-oss, serving it with configs/serve_yam.yaml (see "Bimanual rig" in its README). Inference needs one 80 GB GPU.

Related

• runwayml/praxis-1-base: base model, no action heads; the start of a fine-tune for a new rig
• runwayml/praxis-1-droid: single-arm DROID policy
• runwayml/praxis-1-droid-lerobot: praxis-1-droid in the LeRobot policy layout
• runwayml/praxis-1-yam: bimanual YAM policy
• runwayml/praxis-1-eval: evaluation sets
• runwayml/praxis-1-oss: reference code (inference, serving, fine-tuning)

License

Apache License 2.0. The frozen dependencies (Wan2.2 VAE, Qwen/Qwen3.5-2B) are distributed separately under their own licenses.