Short answer, both Application Services (Application layer) and Repositories (Infrastructure layer) know about the READ models. The domain layer remains transparent to underlying persistence and loading mechanisms.
Long answer, the exact usage mechanism depends on how you use the read models. You could either be using them to construct objects used in your domain layer or more typically, only as responses to API queries.
First case: Use Read Models as objects in the domain layer
The Application service loads the READ model from the repository into the domain entity. It is the repository's responsibility to populate the READ model correctly into the domain entity. The repository is also responsible for transforming the domain entity into the WRITE model to persist in the primary database.
By the time you get to the Domain model, objects are already loaded into memory with the help of repositories. So the domain layer does not even know about the READ model and a WRITE model; it only deals with the domain entity.
Second case: Use Read Models for storing pre-built responses to API queries
This scenario is a more typical use of the READ models. Usually, there are more than one read models for the same Entity/Aggregate because they are custom-built for specific API requests.
In this case, we don't even touch the domain layer. The Application Service accepts the request, uses the READ model repository to load the object, and return a response to the application server.