update docs and readme files, fixing some typos and adding multitask dit to readme

README.md

@@ -100,11 +100,11 @@ lerobot-train \
   --dataset.repo_id=lerobot/aloha_mobile_cabinet
 ```
 
-| Category                   | Models                                                                                                                                                                                                       |
-| -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md)                                                             |
-| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                  |
-| **VLAs Models**            | [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx) |
+| Category                   | Models                                                                                                                                                                                                                  |
+| -------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md) |
+| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                             |
+| **VLAs Models**            | [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx)            |
 
 Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
 

docs/source/_toctree.yml

@@ -45,8 +45,8 @@
     title: NVIDIA GR00T N1.5
   - local: xvla
     title: X-VLA
-  - local: multitask_dit
-    title: Multi-Task DiT
+  - local: multi_task_dit
+    title: Multitask DiT Policy
   - local: walloss
     title: WALL-OSS
   title: "Policies"

docs/source/multi_task_dit.mdx

@@ -1,6 +1,6 @@
-# Multi-Task DiT Policy
+# Multitask DiT Policy
 
-Multi-Task Diffusion Transformer (DiT) Policy is an evolution of the original Diffusion Policy architecture, which leverages a large DiT with text and vision conditioning for multi-task robot learning. This implementation supports both diffusion and flow matching objectives for action generation, enabling robots to perform diverse manipulation tasks conditioned on language instructions.
+Multitask Diffusion Transformer (DiT) Policy is an evolution of the original Diffusion Policy architecture, which leverages a large DiT with text and vision conditioning for multitask robot learning. This implementation supports both diffusion and flow matching objectives for action generation, enabling robots to perform diverse manipulation tasks conditioned on language instructions.
 
 ## Model Overview
 
@@ -16,7 +16,7 @@ VLAs, with only ~450M parameters and significantly less training.
 
 ## Installation Requirements
 
-Multi-Task DiT Policy has additional dependencies. Install it with:
+Multitask DiT Policy has additional dependencies. Install it with:
 
 ```bash
 pip install lerobot[multi_task_dit]
@@ -26,7 +26,7 @@ This will install all necessary dependencies including the HuggingFace Transform
 
 ## Usage
 
-To use Multi-Task DiT in your LeRobot configuration, specify the policy type as:
+To use Multitask DiT in your LeRobot configuration, specify the policy type as:
 
 ```python
 policy.type=multi_task_dit
@@ -36,7 +36,7 @@ policy.type=multi_task_dit
 
 ### Basic Training Command
 
-Here's a complete training command for training Multi-Task DiT on your dataset:
+Here's a complete training command for training Multitask DiT on your dataset:
 
 ```bash
 lerobot-train \

docs/source/policy_multi_task_dit_README.md

@@ -0,0 +1,37 @@
+# Multitask DiT Policy
+
+## Citation
+
+If you use this work, please cite the following works:
+
+```bibtex
+@misc{jones2025multitaskditpolicy,
+  author = {Bryson Jones},
+  title = {Dissecting and Open-Sourcing Multitask Diffusion Transformer Policy},
+  year = {2025},
+  url = {https://brysonkjones.substack.com/p/dissecting-and-open-sourcing-multitask-diffusion-transformer-policy},
+  note = {Blog post}
+}
+```
+
+```bibtex
+@misc{trilbmteam2025carefulexaminationlargebehaviormodels,
+  author       = {TRI LBM Team},
+  title        = {A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation},
+  year         = {2025},
+  eprint       = {arXiv:2507.05331},
+  archivePrefix = {arXiv},
+  primaryClass = {cs.RO},
+  url          = {https://arxiv.org/abs/2507.05331}
+}
+```
+
+```bibtex
+@misc{bostondynamics2025largebehaviormodelsatlas,
+  author       = {Boston Dynamics and TRI Research Team},
+  title        = {Large Behavior Models and Atlas Find New Footing},
+  year         = {2025},
+  url          = {https://bostondynamics.com/blog/large-behavior-models-atlas-find-new-footing/},
+  note         = {Blog post}
+}
+```

src/lerobot/policies/multi_task_dit/README.md

@@ -1,4 +1,4 @@
-# Multi-Task DiT Policy
+# Multitask DiT Policy
 
 ## Citation