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intd-so101-bimanual
leesangoh/intd-so101-bimanual
intd-so101-bimanual is a robotics model from leesangoh. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as other.
Real-world bimanual SO-101 policy from "Act with Intent: Brain-to-Spine Intention Distillation" (INDI). GR00T-N1.7-3B fine-tuned with the IntD grafted intent stream ([V\;R\] distilled from a frozen Cosmos-Reason2 teac…
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At a glance
- Task
- Robotics
- License
- other
- Model type
- Gr00tN1d7
- Access
- Public
- Created
- Aug 21, 2026
- Updated
- Aug 21, 2026
- SHA
- ba7fb724
Base models
Model card
From the Hugging Face model README
IntD SO-101 Bimanual (GR00T-N1.7-3B + Intent Distillation)
Real-world bimanual SO-101 policy from "Act with Intent: Brain-to-Spine Intention Distillation" (INDI). GR00T-N1.7-3B fine-tuned with the IntD grafted intent stream ([V*;R*] distilled from a frozen Cosmos-Reason2 teacher), 60k steps (GBS 129) on 400 teleop demos (4 tasks × 100: threading, basket nesting, cross-bin stacking, drawer storage; head + left/right wrist cameras).
- Action space: relative arm / absolute gripper joint actions (official GR00T SO-100 convention), chunk 32, executed with receding horizon 8.
- Serve with the intd-vla fork
(
gr00t/eval/run_gr00t_server.py --embodiment-tag SO101_BIMANUAL, α=1).
Real-world results (n=25 per cell, 600 paired rollouts)
| Condition | Baseline | +IntD |
|---|---|---|
| In-distribution clean | 71 | 76 |
| Held-out objects | 62 | 67 |
| Distractors | 53 | 60 |
Largest gains on precision/long-horizon tasks (drawer storage grasp +24pp). Baseline pair: leesangoh/intd-so101-bimanual-baseline.
- Task
- Robotics
- Type
- Gr00tN1d7
- License
- other
- Created
- Aug 21, 2026
- Updated
- Aug 21, 2026