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feat(rewards): introduce distributional value function model

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- Added a new distributional value function (DistributionalVF) model for RECAP, including its configuration, modeling, and processor components.
- Updated the rewards factory to support the new model type.
- Updated  to include the new model in the dependencies.
This commit is contained in:
Khalil Meftah
2026-06-10 15:24:50 +02:00
parent 49755a3d9e
commit 500c91ba92
8 changed files with 1300 additions and 337 deletions
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pyproject.toml
+2
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@@ -214,6 +214,7 @@ groot = [
sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot[peft-dep]"]
topreward = ["lerobot[transformers-dep]"]
recap = ["lerobot[transformers-dep]"]
xvla = ["lerobot[transformers-dep]"]
eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
@@ -296,6 +297,7 @@ all = [
"lerobot[sarm]",
"lerobot[robometer]",
"lerobot[topreward]",
"lerobot[recap]",
"lerobot[peft]",
# "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
]