| --- |
| library_name: lerobot |
| tags: |
| - robotics |
| - imitation-learning |
| --- |
| |
| # Multi-Task DiT (diffusion) |
|
|
| LeRobot policy checkpoints uploaded by `goal_gen/upload_hf_checkpoints.sh`. |
| Each subfolder contains the deployment-ready `pretrained_model/` payload |
| (model.safetensors + config.json + pre/postprocessor + train_config.json). |
| |
| | Subfolder | Train step | Final train loss | |
| |---|---|---| |
| | `checkpoint-060000` | 60,000 | 0.008 | |
| | `checkpoint-080000` | 80,000 | 0.007 | |
| | `checkpoint-100000` | 100,000 | 0.007 | |
| |
| ## Usage |
| |
| ```python |
| from huggingface_hub import snapshot_download |
| ckpt_dir = snapshot_download( |
| "JayCao99/dit-diffusion-rm65b-stack-v0.0", |
| allow_patterns="checkpoint-100000/*", |
| ) |
| # Then load with the appropriate LeRobot policy class, e.g.: |
| # from lerobot.policies.multi_task_dit import MultiTaskDiTPolicy |
| # policy = MultiTaskDiTPolicy.from_pretrained(f"{ckpt_dir}/checkpoint-100000") |
| ``` |
| |
