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update readme and citations for multitask dit policy
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# Multi-Task DiT Policy
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# Multi-Task DiT Policy
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For details describing the architecture, see the citations and the blog post from Bryson Jones: https://brysonkjones.substack.com/p/dissecting-multi-task-diffusion-transformer-policy
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## Trainining and Inference Baseline Recommendations:
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### Training
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- Number of demonstrations: >100 per task
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- Batch Size: 320
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- Objective: Diffusion
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- Cameras: At least two, with one egocentric view per arm
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### Inference
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- GPU: 5070 Ti or above in performance
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- Sampling:
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- Strategy: DDIM
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- Number of Timesteps: 10
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## Citation
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## Citation
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If you use this work, please cite the following works:
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If you use this work, please cite the following works:
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@@ -25,7 +7,7 @@ If you use this work, please cite the following works:
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```bibtex
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```bibtex
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@misc{jones2025multitaskditpolicy,
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@misc{jones2025multitaskditpolicy,
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author = {Bryson Jones},
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author = {Bryson Jones},
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title = {Dissecting Multitask Diffusion Transformer Policy},
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title = {Dissecting and Open-Sourcing Multitask Diffusion Transformer Policy},
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year = {2025},
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year = {2025},
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url = {https://brysonkjones.substack.com/p/dissecting-multitask-diffusion-transformer-policy},
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url = {https://brysonkjones.substack.com/p/dissecting-multitask-diffusion-transformer-policy},
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note = {Blog post}
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note = {Blog post}
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@@ -43,3 +25,13 @@ If you use this work, please cite the following works:
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url = {https://arxiv.org/abs/2507.05331}
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url = {https://arxiv.org/abs/2507.05331}
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}
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}
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```
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```
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```bibtex
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@misc{bostondynamics2025largebehaviormodelsatlas,
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author = {Boston Dynamics and TRI Research Team},
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title = {Large Behavior Models and Atlas Find New Footing},
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year = {2025},
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url = {https://bostondynamics.com/blog/large-behavior-models-atlas-find-new-footing/},
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note = {Blog post}
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}
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```
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