Multitask DiT Policy

← Tutorial Library · policies and Models

This section introduces the general functions of LeRobot. Please configure the example according to the target robot, data set and operating environment; before using it with AlohaMini 2 / 2 Pro, you need to confirm the hardware and interface compatibility.

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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}
}