Config reference

A connect config is a YAML file with three required sections and a handful of session-level knobs. Minimum viable config:

mode: dry_run
target:
  kind: webrtc
  base_model: molmoact2-bimanualyam
hardware:
  kind: yam_bimanual
  config:
    left:  { channel: can1, gripper: linear_4310 }
    right: { channel: can0, gripper: linear_4310 }

Run with:

reflex connect --config robot.yaml

Session-level fields

Field	Type	Default	Notes
`mode`	`"dry_run"` or `"apply_actions"`	`"dry_run"`	`dry_run` runs the loop but does not write actions to the robot. Use it to validate the pipeline before powering motors.
`max_steps`	int	`0`	`0` means run until interrupted.
`control_period_s`	float	`0.0`	Minimum seconds per loop iteration. `0.2` ≈ 5 Hz wall-clock cap on the runner.
`stop_on_error`	bool	`true`	When `false`, transient inference / apply errors trigger `connector.safe_stop` but the loop continues.
`pipeline_inference`	bool	`true`	When true (default), the next inference runs in a background thread while the current chunk is being applied — roughly doubles the effective control rate when `apply ≈ infer`. Set false for strictly serial loops while debugging.
`heartbeat_interval_s`	float	`10.0`	Seconds between heartbeat callbacks.

`target` — inference transport

The transport that takes observations and returns action chunks.

`target.kind: webrtc`

DataChannel to a hosted GPU worker. The recommended default for production.

Field	Type	Default	Notes
`url`	string	—	Worker URL. Mutually exclusive with `base_model` — set one or the other.
`base_model`	string	—	Platform-routed model identifier (e.g. `molmoact2-bimanualyam`). The platform assigns a worker and issues a scoped session credential; you're connected to a low-latency region.
`timeout_s`	float	`60.0`	Per-call inference timeout.
`connect_timeout_s`	float	`60.0`	Total budget for signaling + ICE/DTLS handshake. Bump to ~180 if the worker is prone to cold starts.
`img_size`	int	`256`	Square resize applied to each camera frame before send. Smaller is faster on the wire but the worker upsamples server-side, so picking the worker's preferred size avoids the round-trip.
`camera_field_map`	mapping	`{top, left, right}`	Local channel name → wire key. Override when the model expects different camera names.
`state_field`	string	`"state"`	Wire key for the proprio state vector.
`instruction_field`	string	`"prompt"`	Wire key for the language instruction.
`extra_payload`	mapping	`{}`	Merged into every observation. Useful for model-specific knobs (`num_steps`, etc.).
`streaming`	bool	`false`	Use the sustained-DataChannel streaming client instead of the per-call client. Experimental.

`target.kind: edge`

Plain HTTPS POST to a local or remote endpoint. Useful for local dev / Thor edge boxes.

Field	Type	Default	Notes
`url`	string	—	`http://localhost:8080/infer` style.
`timeout_s`	float	`30.0`

`target.kind: platform`

Authenticated WebSocket flow. Older protocol, kept for compatibility; new robots should use webrtc.

`hardware` — robot connector

hardware:
  kind: <connector_kind>
  config:
    # connector-specific kwargs

`hardware.kind: yam_bimanual`

i2rt YAM bimanual arms over SocketCAN. Requires i2rt installed in the same venv.

Field	Type	Default	Notes
`left.channel` / `right.channel`	string	required	SocketCAN interface name (`can0`, `can1`).
`left.gripper` / `right.gripper`	string	—	Gripper model (`linear_4310` is typical).
`hz`	int	`30`	Control-loop rate on the motor chain.
`zero_gravity_mode`	bool	`false`	If true, motors stay in gravity-comp; actions aren't applied.
`instruction`	string	`""`	Default language prompt — overridable per-call from the model side.
`home_duration_s`	float	`4.0`	Time over which the arms move to the home pose at startup.
`home_pose`	list[float]	per-arm zeros + gripper at 1.0 rad	7-DOF target pose (matches gello_software start_joints).
`chunk_boundary_max_delta`	float	`0.02`	Max per-joint delta allowed between consecutive chunks. Larger jumps are clipped.
`chunk_apply_horizon`	int	`0`	Number of steps to apply from each chunk. `0` = entire chunk.
`action_step_delay_s`	float	`1/hz`	Wall delay between motor commands.

`hardware.kind: subprocess`

Anything else — shell-based connector. The runner spawns scripts and pipes JSON to/from them:

Field	Type	Default	Notes
`observe_command`	string	required	Command that prints one observation JSON per line.
`action_command`	string	required	Command that reads one action chunk JSON per line on stdin.
`safe_stop_command`	string	—	Optional emergency-stop command.
`command_timeout_s`	float	`2.0`	Per-call wallclock budget.
`safe_stop_timeout_s`	float	`5.0`

`cameras` — observation sources

Optional. Each key is a logical channel name, the value is {kind, ...}. Logical channel names flow into target.camera_field_map to map onto the model's expected camera keys.

cameras:
  top:   { kind: shm, name: top }
  left:  { kind: shm, name: left }
  right: { kind: shm, name: right }

`cameras.<name>.kind: v4l2` (alias `webcam`)

Field	Type	Default	Notes
`device`	string or int	`0`	`/dev/video0`, `0`, etc.
`width` / `height`	int	camera default
`fps`	int	camera default

`cameras.<name>.kind: realsense`

Field	Type	Default	Notes
`serial`	string	first device	Optional RealSense serial number for multi-camera rigs.
`width` / `height`	int	`640` / `480`
`fps`	int	`30`
`stream`	string	`"color"`	`"color"` or `"depth"`.

`cameras.<name>.kind: shm`

Pre-broadcast frames from a shared-memory segment. Multi-consumer safe.

Field	Type	Default	Notes
`name`	string	required	Maps to `/dev/shm/reflex_cam_<name>`.
`wait_s`	float	`5.0`	Seconds to wait at startup for the broadcaster to attach.

The broadcaster (publisher) is not part of the SDK — author your own that grabs from RealSense / V4L2 / Camera SDK and writes raw HWC uint8 frames into the SHM segment.

Reference configs

Production configs that ship in the repo:

File	Notes
`examples/yam_bimanual_molmoact2.yaml`	YAM bimanual + MolmoAct2, no specific worker preset.
`examples/yam_bimanual_molmoact2_BASELINE.yaml`	SHM cameras + the BASELINE MolmoAct2 worker.
`examples/yam_bimanual_molmoact2_LOSSLESS.yaml`	Lossless image variant.
`examples/yam_bimanual_molmoact2_MODAL.yaml`	Multi-region failover.

Pull one directly:

curl -O https://raw.githubusercontent.com/reflex-inc/reflex/main/examples/yam_bimanual_molmoact2_BASELINE.yaml
reflex connect --config yam_bimanual_molmoact2_BASELINE.yaml

Config reference

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