---
license: apache-2.0
tags:
- robotics
- rdt
- libero
- diffusion
- transformers
---

# RDT-1B LIBERO Checkpoint

RDT-1B fine-tuned on LIBERO Object benchmark. Best performing checkpoint.

## Model Information
- Base Model: RDT-1B (Residual Diffusion Transformer)
- Training Framework: DeepSpeed ZeRO Stage 2
- Precision: BF16

## Checkpoint Contents

This checkpoint includes:

### For Inference
- `ema/model.safetensors` - EMA model weights (recommended for inference)
- `config.json` - Model configuration

### For Training
- `pytorch_model/` - DeepSpeed distributed training checkpoint
  - `bf16_zero_pp_rank_*_optim_states.pt` - Optimizer states (ZeRO Stage 2)
  - `mp_rank_00_model_states.pt` - Model states
- `scheduler.bin` - Learning rate scheduler state
- `random_states_*.pkl` - Random number generator states
- `zero_to_fp32.py` - Utility to convert DeepSpeed checkpoint to FP32

## Usage

### For Inference

```python
from transformers import AutoModel
import torch

# Load the EMA model for inference
model = AutoModel.from_pretrained(
    "TJ-chen/RDT-1B-LIBERO-Object",
    subfolder="ema",
    trust_remote_code=True
)
model.eval()
```

### For Continued Training

Download the complete checkpoint and use DeepSpeed to resume training:

```bash
# The checkpoint can be loaded with DeepSpeed ZeRO Stage 2
# Make sure your training script is configured with the same DeepSpeed settings
```

## Citation

If you use this model, please cite:

```bibtex
@article{rdt2024,
  title={Residual Diffusion Transformer for Robotic Manipulation},
  author={Your Name},
  journal={arXiv preprint},
  year={2024}
}
```

## License

Apache 2.0