This repository contains the final checkpoint for a MultiTask DiT policy trained on aswinkumar99/task1-all for SO101 sponge pick-and-place experiments.

Dataset meaning: Task 1: Single Sponge - No Distractors (all layouts).

This model was trained with the LeRobot multi_task_dit policy and diffusion objective. It is not a fine-tune from a published base checkpoint.

Training Setup

Dataset repo: aswinkumar99/task1-all
Local dataset root during training: /home/riftuser/datasets_combined/aswinkumar99/task1-all
Output directory during training: /home/riftuser/outputs_matrix/multi_task_dit/task1-all_bs128_s30000
Batch size: 128
Training steps: 30000
Checkpoint save frequency: 5000
Data loader workers: 8
WandB project: so101-layout-generalization
GPU: NVIDIA RTX PRO 6000 Blackwell Max-Q Workstation Edition
Python: CPython 3.12.13
CUDA: 12.9
Training start: 2026-04-24T09:41:26.621865+00:00
Training end: 2026-04-24T17:59:31
Approximate training duration: 8h 18m 4s
Objective: diffusion
Noise scheduler: DDPM
Horizon: 32
Action steps predicted: 24
Observation steps: 2
Vision encoder: openai/clip-vit-base-patch16
Text encoder: openai/clip-vit-base-patch16
Hidden dim: 512
Number of transformer layers: 4

Exact Training Command

bash

lerobot-train \
  --dataset.repo_id=aswinkumar99/task1-all \
  --dataset.root=/home/riftuser/datasets_combined/aswinkumar99/task1-all \
  --dataset.video_backend=torchcodec \
  --output_dir=/home/riftuser/outputs_matrix/multi_task_dit/task1-all_bs128_s30000 \
  --job_name=multi_task_dit_task1-all_bs128 \
  --batch_size=128 \
  --steps=30000 \
  --log_freq=200 \
  --save_freq=5000 \
  --save_checkpoint=true \
  --num_workers=8 \
  --wandb.enable=true \
  --wandb.project=so101-layout-generalization \
  --wandb.mode=online \
  --wandb.disable_artifact=true \
  --policy.type=multi_task_dit \
  --policy.device=cuda \
  --policy.push_to_hub=false \
  --policy.use_amp=true \
  --policy.horizon=32 \
  --policy.n_action_steps=24 \
  --policy.n_obs_steps=2 \
  --policy.num_layers=4 \
  --policy.hidden_dim=512 \
  --policy.num_heads=8 \
  --policy.dropout=0.1 \
  --policy.timestep_embed_dim=256 \
  --policy.use_rope=true \
  --policy.use_positional_encoding=false \
  --policy.objective=diffusion \
  --policy.noise_scheduler_type=DDPM \
  --policy.num_train_timesteps=100 \
  --policy.optimizer_lr=2e-5 \
  --policy.vision_encoder_lr_multiplier=0.1 \
  --policy.vision_encoder_name=openai/clip-vit-base-patch16 \
  --policy.text_encoder_name=openai/clip-vit-base-patch16 \
  --policy.image_crop_shape=[224,224] \
  --policy.image_crop_is_random=true

Repository Contents

pretrained_model/: final downloadable model artifacts for inference/loading
training_state/: optimizer, RNG, scheduler/state, and step information for resuming or auditability

Creator

Aswinkumar

Website: aswinkumar.me
Hugging Face repo: https://huggingface.co/aswinkumar99/LeRobot-SO101-MultiTaskDiT-task1-all_bs128_s30000

aswinkumar99/LeRobot-SO101-MultiTaskDiT-task1-all_bs128_s30000

LeRobot SO101 MultiTaskDiT task1-all_bs128_s30000

Summary

Training Setup

Exact Training Command

Repository Contents

Creator

aswinkumar99/
LeRobot-SO101-MultiTaskDiT-task1-all_bs128_s30000