Multi-Task DiT (diffusion)
LeRobot policy checkpoints uploaded by goal_gen/upload_hf_checkpoints.sh.
Each subfolder contains the deployment-ready pretrained_model/ payload
(model.safetensors + config.json + pre/postprocessor + train_config.json).
| Subfolder | Train step | Final train loss |
|---|---|---|
checkpoint-080000 |
80,000 | 0.005 |
checkpoint-100000 |
100,000 | 0.005 |
Usage
from huggingface_hub import snapshot_download
ckpt_dir = snapshot_download(
"JayCao99/dit-diffusion-xarm-mug-v0.0",
allow_patterns="checkpoint-100000/*",
)
# Then load with the appropriate LeRobot policy class, e.g.:
# from lerobot.policies.multi_task_dit import MultiTaskDiTPolicy
# policy = MultiTaskDiTPolicy.from_pretrained(f"{ckpt_dir}/checkpoint-100000")