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RDT-1B

RDT-1B

Checkpoint

1.2B diffusion foundation model for bimanual manipulation.

Default checkpoint

robotics-diffusion-transformer/rdt-1b

openMIT License
Checkpoint

Other releases

1

published checkpoints

Supported robots

No verified robot compatibility recorded.

Benchmark results

No published benchmark results.

Specifications

Architecture components
Diffusion action decoder
Source · robotics-diffusion-transformer
Backbone
T5 language encoder, SigLIP vision encoder and diffusion transformer
Source · robotics-diffusion-transformer
Frameworks
PyTorch / Transformers
Source · robotics-diffusion-transformer
Input modalities
Language instruction
Source · robotics-diffusion-transformer
Input modalities
RGB camera images
Source · robotics-diffusion-transformer
Input modalities
Robot state / proprioception
Source · robotics-diffusion-transformer
Languages
English
Source · robotics-diffusion-transformer
Model type
Vision-language-action model
Source · robotics-diffusion-transformer
Output action space
Continuous bimanual action chunks
Source · robotics-diffusion-transformer
Parameter count
1.2B parameters
Source · robotics-diffusion-transformer
Pipeline task
Robotics
Source · robotics-diffusion-transformer

Lineage

Unknown

Architecture & I/O

trajectory · continuous

Unknown

Continuous bimanual action chunks

Source · robotics-diffusion-transformer

Deployment

Resources

paper · RDT-1B paperrepository · RDT official repositoryweights · robotics-diffusion-transformer/rdt-1b model card
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