aswinkumar99/LeRobot-SO101-MultiTaskDiT-task1-all_bs128_s30000

LeRobot SO101 MultiTaskDiT task1-allbs128s30000

Summary

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

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-allbs128s30000>