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README.md

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+---
+language:
+- en
+license: mit
+tags:
+- MultiTaskDiT
+- LeRobot
+- robotics
+- imitation-learning
+- diffusion
+- so101
+pipeline_tag: reinforcement-learning
+library_name: lerobot
+---
+
+# LeRobot SO101 MultiTaskDiT task3-all_bs128_s30000
+
+## Summary
+
+This repository contains the final checkpoint for a MultiTask DiT policy trained on `aswinkumar99/task3-all` for SO101 sponge pick-and-place experiments.
+
+Dataset meaning: Task 3: Single Sponge - With 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/task3-all`
+- Local dataset root during training: `/home/riftuser/datasets_combined/aswinkumar99/task3-all`
+- Output directory during training: `/home/riftuser/outputs_matrix/multi_task_dit/task3-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: `2026-04-24T09:50:13.274743+00:00`
+- Training end: `2026-04-24T18:15:43`
+- Approximate training duration: `8h 25m 29s`
+- 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/task3-all \
+  --dataset.root=/home/riftuser/datasets_combined/aswinkumar99/task3-all \
+  --dataset.video_backend=torchcodec \
+  --output_dir=/home/riftuser/outputs_matrix/multi_task_dit/task3-all_bs128_s30000 \
+  --job_name=multi_task_dit_task3-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](https://aswinkumar.me)
+- Hugging Face repo: <https://huggingface.co/aswinkumar99/LeRobot-SO101-MultiTaskDiT-task3-all_bs128_s30000>