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README.md

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 # RDT-170M
 
- RDT-170M is a 170M-parameter imitation learning Diffusion Transformer ***(RDT(small) in ablation)***. Given language instruction and RGB images of up to three views, RDT can predict the next 
+ RDT-170M is a 170M-parameter imitation learning Diffusion Transformer **(RDT(small) in ablation)**. It has a hidden size of `1024` and a depth of `14`, which are half of that in RDT-1B. Given language instruction and RGB images of up to three views, RDT can predict the next 
 64 robot actions. RDT is compatible with almost all modern mobile manipulators, from single-arm to dual-arm, joint to EEF, position to velocity, and even wheeled locomotion.
 
  All the [code](https://github.com/thu-ml/RoboticsDiffusionTransformer/tree/main?tab=readme-ov-file), pre-trained model weights, and [data](https://huggingface.co/datasets/robotics-diffusion-transformer/rdt-ft-data) are licensed under the MIT license.