From d60a700d2b32590ed113d694fd87617e43506081 Mon Sep 17 00:00:00 2001
From: Steven Palma <imstevenpmwork@ieee.org>
Date: Sun, 5 Apr 2026 21:23:13 +0200
Subject: [PATCH] chore(policy): multi dit docs (#3285)

* docs(policy): add libero results multi task dit + remove readme in src code

* docs(policy): add hyperlink to doc file in src code

* chore(style): pre-commit
---
 docs/source/multi_task_dit.mdx                | 48 +++++++++++++++++++
 src/lerobot/policies/multi_task_dit/README.md | 38 +--------------
 2 files changed, 49 insertions(+), 37 deletions(-)
 mode change 100644 => 120000 src/lerobot/policies/multi_task_dit/README.md

diff --git a/docs/source/multi_task_dit.mdx b/docs/source/multi_task_dit.mdx
index c3cced708..450d8a9f2 100644
--- a/docs/source/multi_task_dit.mdx
+++ b/docs/source/multi_task_dit.mdx
@@ -331,6 +331,54 @@ lerobot-train \
   --wandb.project=multitask_dit
 ```
 
+## Libero Results
+
+```
+python -m lerobot.scripts.lerobot_train \
+  --dataset.repo_id=HuggingFaceVLA/libero \
+  --policy.type=multi_task_dit \
+  --policy.push_to_hub=false \
+  --output_dir="./outputs/multitask_dit_libero" \
+  --job_name="multitask-dit-libero" \
+  --wandb.enable=true \
+  --wandb.project=multitask_dit_libero \
+  --dataset.image_transforms.enable=true \
+  --dataset.image_transforms.max_num_transforms=4 \
+  --dataset.image_transforms.tfs='{"brightness":{"type":"ColorJitter","kwargs":{"brightness":[0.75,1.25]}},"contrast":{"type":"ColorJitter","kwargs":{"contrast":[0.6,1.4]}},"saturation":{"type":"ColorJitter","kwargs":{"saturation":[0.8,1.2]}},"hue":{"type":"ColorJitter","kwargs":{"hue":[-0.05,0.05]}},"sharpness":{"type":"SharpnessJitter","kwargs":{"sharpness":[0.6,1.4]}},"rotation":{"type":"RandomRotation","kwargs":{"degrees":[-5,5]}},"translation":{"type":"RandomAffine","kwargs":{"degrees":0,"translate":[0.1,0.1]}}}' \
+  --dataset.video_backend=torchcodec \
+  --policy.use_amp=true \
+  --policy.horizon=48 \
+  --policy.n_obs_steps=2 \
+  --policy.use_rope=true \
+  --policy.use_positional_encoding=false \
+  --policy.hidden_dim=768 \
+  --policy.num_layers=8 \
+  --policy.num_heads=12 \
+  --policy.dropout=0.1 \
+  --policy.timestep_embed_dim=256 \
+  --policy.objective=diffusion \
+  --policy.optimizer_lr=3e-4 \
+  --policy.optimizer_weight_decay=0 \
+  --policy.scheduler_warmup_steps=0 \
+  --policy.vision_encoder_name=openai/clip-vit-base-patch16 \
+  --policy.image_resize_shape=[256,256] \
+  --policy.image_crop_is_random=true \
+  --policy.text_encoder_name=openai/clip-vit-base-patch16 \
+  --policy.vision_encoder_lr_multiplier=0.1 \
+  --policy.device=cuda \
+  --num_workers=8 \
+  --save_freq=4000 \
+  --log_freq=100 \
+  --steps=100000 \
+  --batch_size=320
+```
+
+Results:
+
+| LIBERO Spatial | LIBERO Object | LIBERO Goal | LIBERO 10 | Average |
+| -------------- | ------------- | ----------- | --------- | ------- |
+| 87.0           | 98.2          | 93.8        | 83.2      | 90.6    |
+
 ## References
 
 For more details on the technical implementation and architecture, see:
diff --git a/src/lerobot/policies/multi_task_dit/README.md b/src/lerobot/policies/multi_task_dit/README.md
deleted file mode 100644
index f24fa927e..000000000
--- a/src/lerobot/policies/multi_task_dit/README.md
+++ /dev/null
@@ -1,37 +0,0 @@
-# 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}
-}
-```
diff --git a/src/lerobot/policies/multi_task_dit/README.md b/src/lerobot/policies/multi_task_dit/README.md
new file mode 120000
index 000000000..0311278c9
--- /dev/null
+++ b/src/lerobot/policies/multi_task_dit/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_multi_task_dit_README.md
\ No newline at end of file