update readme and citations for multitask dit policy

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Bryson Jones
2025-12-10 10:50:23 -08:00
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commit 55e19ff9a7

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# Multi-Task DiT Policy
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
## Trainining and Inference Baseline Recommendations:
### Training
- Number of demonstrations: >100 per task
- Batch Size: 320
- Objective: Diffusion
- Cameras: At least two, with one egocentric view per arm
### Inference
- GPU: 5070 Ti or above in performance
- Sampling:
- Strategy: DDIM
- Number of Timesteps: 10
## Citation
If you use this work, please cite the following works:
@@ -25,7 +7,7 @@ If you use this work, please cite the following works:
```bibtex
@misc{jones2025multitaskditpolicy,
author = {Bryson Jones},
title = {Dissecting Multitask Diffusion Transformer Policy},
title = {Dissecting and Open-Sourcing Multitask Diffusion Transformer Policy},
year = {2025},
url = {https://brysonkjones.substack.com/p/dissecting-multitask-diffusion-transformer-policy},
note = {Blog post}
@@ -43,3 +25,13 @@ If you use this work, please cite the following works:
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}
}
```