清华大学 TSAIL（thu-ml）
RDT-1B
1B Commercial use OK 8/8 verified
Facts
- Released
- 2024-10 1 Source
- Parameters
- 1 B 1 Source
- Architecture
- Transformer policy 0 Source
- License
- MIT（代码、权重、数据均为 MIT，README 原文） 2 Source
- Commercial
- Commercial use OK 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 1 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 统一动作空间，覆盖单臂/双臂、关节/末端、位置/速度 0 Source
- Cross-embodiment
- 100 万+ 多机器人 episodes 预训练，ALOHA 双臂 6K+ episodes 微调 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm · Mobile manipulator 0 Source
Architecture · 扩散 Transformer；输入语言 + 最多三路 RGB，一次预测 64 步动作；另有 RDT-170M 小版本
Sources · 3 sources
license,params_b,cross_embodiment,code_url https://github.com/thu-ml/RoboticsDiffusionTransformer Official page · Fetched 2026-09-04 · No snapshot stored yet README：All the code, model weights, and data are licensed under MIT license；1B-parameter；1M+ multi-robot episodes
weights_url,license https://huggingface.co/api/models/robotics-diffusion-transformer/rdt-1b Model hub page · Fetched 2026-09-04 · No snapshot stored yet 模型卡 license: mit；createdAt 2024-08-27
paper_url,release_date https://arxiv.org/abs/2410.07864 Paper / official docs · Fetched 2026-09-04 · No snapshot stored yet RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation，2024-10
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-04
Sources fetched
license,params_b,cross_embodiment,code_url · weights_url,license · paper_url,release_date
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
NVIDIA H100 80GB no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | Fourier GR-2 | WidowX 250 S | Google Robot（Everyday Robots） | ALOHA 2 / Cobot Magic（双臂） | Galaxea R1 Pro | Franka Emika Panda | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RDT-1B |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.