LeRobot Adds Zero-Shot Reward Models
RemiCadene · x · 2026-07-14
LeRobot v0.6 introduces a unified reward models API along with two zero-shot reward functions:
- Robometer: A general-purpose reward model trained on over 1 million trajectories across 21 robot morphologies. It can directly process video and language instructions to assess task progress and success without requiring task-specific training.
- TOPReward: A lighter alternative that directly uses the output probability of an off-the-shelf VLM to determine "True," eliminating the need for dedicated reward weights.
Both components come with annotation scripts that can write frame-by-frame progress curves back into the dataset, facilitating subsequent reward-aware behavioral training.
Related event: LeRobot v0.6 Adds Zero-Shot Reward Model API(2 posts)→
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