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intd-so101-bimanual-baseline
leesangoh/intd-so101-bimanual-baseline
intd-so101-bimanual-baseline 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.
Baseline pair for "Act with Intent: Brain-to-Spine Intention Distillation" (INDI). Vanilla GR00T-N1.7-3B fine-tune (no IntD stream), 60k steps (GBS 128) on the same 400 bimanual SO-101 teleop demos (4 tasks × 100) as…
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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
- e7ee1dad
Base models
Model card
From the Hugging Face model README
SO-101 Bimanual Baseline (GR00T-N1.7-3B fine-tune)
Baseline pair for "Act with Intent: Brain-to-Spine Intention Distillation" (INDI). Vanilla GR00T-N1.7-3B fine-tune (no IntD stream), 60k steps (GBS 128) on the same 400 bimanual SO-101 teleop demos (4 tasks × 100) as the IntD model.
- 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).
Real-world average success (n=25/cell): 71 (ID) / 62 (held-out) / 53 (distractors) vs IntD 76/67/60 — see leesangoh/intd-so101-bimanual.
- Task
- Robotics
- Type
- Gr00tN1d7
- License
- other
- Created
- Aug 21, 2026
- Updated
- Aug 21, 2026