My reading of your referenced spec sheet suggests to me that for a single regulator no bypass caps are required, just suggested. The ones they talk about being required are related to their example where the 78xx is combined with a switching converter. Note that in their two examples, only the capacitor between the switching converter and the regulator is tagged as being needed. In both examples, the capacitor on the other end is suggested, but not required.
In your application, you might want the 100uF one on the servo motor side because those servos are pulsed on/off internally, and they spike large currents (~1A) when they turn on, so they in-effect behave like their switching converter. No capacitor on the input to the reg.