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feat(rewards): add ROBOMETER reward model (#3627)

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* feat/add ROBOMETER reward model

* feat(rewards): add Robometer offline progress labeling script

* fix(rewards/robometer): add missing input keys mm_token_type_ids

* chore(rewards/robometer): default to lerobot/Robometer-4b model

* doc(rewards/robometer): update citation and original github link

* feat(rewards/robometer): add image key argument to compute Robometer progress
This commit is contained in:
Khalil Meftah
2026-05-29 21:45:39 +02:00
committed by GitHub
parent 24017e960c
commit b8ad81bf39
14 changed files with 2229 additions and 3 deletions
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@@ -2989,6 +2989,11 @@ rebot = [
{ name = "motorbridge" },
{ name = "motorbridge-smart-servo" },
]
robometer = [
{ name = "peft" },
{ name = "qwen-vl-utils" },
{ name = "transformers" },
]
robstride = [
{ name = "python-can" },
]
@@ -3146,6 +3151,7 @@ requires-dist = [
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'molmoact2'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'peft'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'robometer'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'wallx'" },
{ name = "lerobot", extras = ["phone"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["pi"], marker = "extra == 'all'" },
@@ -3163,10 +3169,12 @@ requires-dist = [
{ name = "lerobot", extras = ["pyzmq-dep"], marker = "extra == 'lekiwi'" },
{ name = "lerobot", extras = ["pyzmq-dep"], marker = "extra == 'unitree-g1'" },
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'eo1'" },
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'robometer'" },
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'sarm'" },
{ name = "lerobot", extras = ["qwen-vl-utils-dep"], marker = "extra == 'wallx'" },
{ name = "lerobot", extras = ["reachy2"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["rebot"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["robometer"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["robstride"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["sarm"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'aloha'" },
@@ -3188,6 +3196,7 @@ requires-dist = [
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'multi-task-dit'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'peft'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'pi'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'robometer'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'sarm'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'smolvla'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'topreward'" },
@@ -3258,7 +3267,7 @@ requires-dist = [
{ name = "transformers", marker = "extra == 'transformers-dep'", specifier = ">=5.4.0,<5.6.0" },
{ name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.25.0" },
]
provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "topreward", "xvla", "eo1", "hilserl", "async", "peft", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "async", "peft", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
[[package]]
name = "librt"