Does Multitask DiT run on ROBOTIS OMX?

partial

T1 · upstream documentedlast verified 2026-10-25 · todayLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

Capabilities

Capability	State	Evidence
Train / fine-tune	works	ev-hub-imstevenpmwork-dit-omx
Real-robot inference	no verified evidence	—
Simulation inference	no verified evidence	—
Teleop + record	no verified evidence	—

Caveats

LeRobot main's (post-0.6.1) remote-inference runner does not yet support Multi-task DiT: its history/queue preparation needs adaptation to the current-observation contract.

Evidence 2 sources; the cell shows the highest tier

T3 · community reportedhub-checkpointsource 2026-09-08verified 2026-10-25 (today)lerobot 0.6.2 (unreleased dev version per card; latest release is 0.6.1)
config.json type=multi_task_dit (20000 steps); train_config.json dataset imstevenpmwork/super_chatton whose meta/info.json robot_type=omx_follower (100 episodes, front + wrist cameras). Auto-generated card with a placeholder rollout command and no evaluation results.
“- **Robot type:** `omx_follower`”
https://huggingface.co/imstevenpmwork/dit_super_chatton_4549-ema/blob/9360c6071fb6dc944dc4db0612268d366cf1ac67/README.md
T1 · upstream documentedofficial-docssource 2026-10-14verified 2026-10-25 (today)lerobot main@d3793b7e36522321c1c455f0dc4826db3793dceb
Post-0.6.1 (unreleased main) remote-inference reference: Diffusion, Multi-task DiT and VQ-BeT need sampling/preparation and horizon adaptation before the remote runner can serve them.
“Default history and/or per-step queue preparation do not satisfy the direct current-observation contract.”
https://github.com/huggingface/lerobot/blob/d3793b7e36522321c1c455f0dc4826db3793dceb/src/lerobot/remote_inference/README.md

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History

2026-10-25 37c768f Redesign as an engineering reference; add verified evidence · Danilo Znamerovszkij