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feat(rewards): add TOPReward reward model (#3629)

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* feat(rewards): add TOPReward reward model

* refactor(rewards): clean up TOPReward processor/model

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

* fix(rewards/topreward): fix pyproject extra typo and simplify processor (#3653)

Add lerobot[topreward] extra to all in
pyproject.toml, drop the redundant labels arg in scoring, and
collapse the dead-branch shape check in the encoder processor.

* optmize topreward input processing (#3660)

---------

Co-authored-by: Cole <91766445+jcoleharrison@users.noreply.github.com>
Co-authored-by: Haoming Song <haomingsong24@gmail.com>
This commit is contained in:
Khalil Meftah
2026-05-27 14:24:31 +02:00
committed by GitHub
parent 5c98e80430
commit e86f5af5bf
15 changed files with 1891 additions and 3 deletions
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pyproject.toml
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@@ -211,6 +211,7 @@ groot = [
"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
]
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]"]
topreward = ["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]"]
@@ -288,6 +289,7 @@ all = [
"lerobot[libero]; sys_platform == 'linux'",
"lerobot[metaworld]",
"lerobot[sarm]",
"lerobot[topreward]",
"lerobot[peft]",
# "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
]