diff --git a/pyproject.toml b/pyproject.toml
index 0b53457a1..91a43f5b6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -129,6 +129,7 @@ groot = [
     "ninja>=1.11.1,<2.0.0",
     "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
+xlva = ["lerobot[transformers-dep]", "timm>=1.0.0,<1.1.0"]
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
@@ -157,6 +158,7 @@ all = [
     "lerobot[pi]",
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
+    "lerobot[xvla]",
     "lerobot[hilserl]",
     "lerobot[async]",
     "lerobot[dev]",