Multi-Task Diffusion Transformer (DiT) extends Diffusion Policy with a large Diffusion Transformer and text + vision conditioning for multi-task robot learning. It supports both diffusion and flow-matching objectives and reaches high dexterity with only ~450M parameters.
This policy has been trained and pushed to the Hub using
LeRobot.
Learn how to train and run it in the
LeRobot multi_task_dit guide, or browse the
full documentation.
The policy consumes these observation features and produces these action features.
1lerobot-rollout \
2 --strategy.type=base \
3 --robot.type=arlo \
4 --robot.port=<your_robot_port> \
5 --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
6 --policy.path=SieloRobotics/dit_3tasks_resumed \
7 --task="bottle" \
8 --duration=60
When
--strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at
rollout documentation.
1lerobot-train \
2 --dataset.repo_id=${HF_USER}/<dataset> \
3 --policy.type=multi_task_dit \
4 --output_dir=outputs/train/<policy_repo_id> \
5 --job_name=lerobot_training \
6 --policy.device=cuda \
7 --policy.repo_id=${HF_USER}/<policy_repo_id> \
8 --wandb.enable=true
If you use this policy, please cite the method linked in the description above, along with LeRobot:
1@misc{cadene2024lerobot,
2 author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
3 title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
4 howpublished = "\url{https://github.com/huggingface/lerobot}",
5 year = {2024}
6}
