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I put my exec.bin and grom.bin in:

This is one of the two paths that the emulator is set to look in. The jzintv and subfolder rom did not exist so I had to create them..

cd /usr/local/share
sudo mkdir jzintv
sudo mkdir jzintv/rom

and then I moved the exec.bin and gbrom.bin file from my intellivision rom directory:
sudo mv ~/Retropie/roms/intellivision/* /usr/local/share/jzintv/rom

Then I was able to launch my intellivision roms… hope this helps!