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Matrix/Bimanual SO-100/SO-101/Diffusion Policy

Does Diffusion Policy run on Bimanual SO-100/SO-101?

partial
T3 · community reportedlast verified 2026-10-24 · 1d agoLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

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Capabilities

CapabilityStateNotesEvidence
Train / fine-tuneworksev-hub-thomas-diffusion-biso-push, ev-hub-thomas-diffusion-biso-stack
Real-robot inferenceno verified evidence—
Simulation inferenceno verified evidence—
Teleop + recordno verified evidence—

Evidence 2 sources; the cell shows the highest tier

  1. T3 · community reportedhub-checkpointsource 2025-11-17verified 2026-10-24 (1d ago)

    config.json type=diffusion; train_config.json dataset.repo_id=thomas0829/bimanual_so101_push_and_grab, whose meta/info.json robot_type=bi_so100_follower (30 episodes).

    https://huggingface.co/thomas0829/policy-bimanual-diffusion-push-and-grab
  2. T3 · community reportedhub-checkpointsource 2025-11-11verified 2026-10-24 (1d ago)

    config.json type=diffusion; train_config.json dataset.repo_id=thomas0829/bimanual-so101-stacking-blocks-v2, whose meta/info.json robot_type=bi_so100_follower (50 episodes).

    https://huggingface.co/thomas0829/policy-bimanual-diffusion-stacking

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Diffusion Policy on Bimanual SO-100/SO-101: partial

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History

  1. 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij