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Bryson Jones
2e069b1c47
* Add multitask diffusion transformer policy Add multitask diffusion transformer policy * expand the observation encoder to support differnt size encoders for vision and text * add RoPE attention module as this is shown to help training dynamics and generation quality for DiTs * update readme and citations for multitask dit policy * remove dino vision encoder and simplify text and vision encoders by removing inheritance structure * adjust factory comment * update docstring for multitask dit policy processor file * simplify config for multitask dit by merging and flattening everything, then adding comments to denote where some parameters are only used for specific objectives * add references to the modeling file comments * merge all modules files into the main modeling file * add torch.no_grad decorators * split up select action return statement * remove redundant asserts * add tutorial to training with multi_task_dit * fix bugs when testing on hardware * remove environment state conditioning * update typo in test instruction comment * add processor tests to multitask dit tests * move policy to top of file * use constants for indexing into batches and remove env state references * remove the base classes since we don't need to be able to extend * fix nit formatting in generate actions fcn * reformat and clean up tutorial for multitask dit policy * add more descriptions and depth to multitask dit tutorial * note origins of each training objective * rename config param for multiple vision encoders * refactor code to perform task tokenization in the processor instead of in the modeling code for multitask dit * add multitask dit to toc for docs * add conditional transformers import to match all other policies that use transformers lib * add test handling for multitask dit when transformers isnt available * skip tests without transformers * remove cropping of images smaller than the crop size * add kwargs arg to multitask dit constructor * add wallx dep conflict management for multitask dit policy * use hyphens for cleanliness in pyproject.toml * add conflict management to pyproject toml for pi conflict for mtdp as well * update tests script to not use unnecessary uv sync call which resolves dependencies that do not need to run. This drastically reduces CI run time * revert fast tests edits * update docs and readme files, fixing some typos and adding multitask dit to readme * chore(dependencies): upgrade transformers + hggingface-hub + peft + scipy * chore(dependencies): bump pi0 family to transformers v5 * chore(dependencies): bump wall x to transformers v5 * chore(dependencies): bump gr00t to transformers v5 * chore(style): fix pre-commit * fix(policy): xvla forced_bos_token missing * test(rl): skip ci tests for resnet10 * Fix: full pi models support for transformer v5 (#2967) * fix(pi): remove loss truncation * fix(pi): remove state padding before tokenization * fix(pi): fix image padding value * fix from_pretrain * add transformer v5 changes * remove reference * more fixes * make it work * add support for rest of pi family * add pifast work * more changes * more changes * more cleanup * fix torch params * dtype fix * torch compile * embed mismatch fix * revert groot * more nit fixes * remove unused classes * more fixes * revert * nit * torch dtype warning fix * but back dynamic renaming * add tie embedding --------- Co-authored-by: Yufei Sun <skieyfly@gmail.com> * chore: fix XVLA in transformers v5 (#3006) * test(policies): enable wall x CI testing * style(test): pre-commit check * style(test): pre-commit --------- Signed-off-by: Bryson Jones <63133702+brysonjones@users.noreply.github.com> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Jade Choghari <chogharijade@gmail.com> Co-authored-by: Yufei Sun <skieyfly@gmail.com> Co-authored-by: Steven Palma <steven.palma@huggingface.co>
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Multitask DiT Policy
Citation
If you use this work, please cite the following works:
@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}
}
@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}
}
@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}
}