the components is pretty similar and RF ones designed to be used in non-seam environment.
graphValidator allows additional bean validation using value attribute. Check demo sample.
The main differences between these components are :
1) richfaces validation components could validate input fields by ajax.
2) RichFaces beanValidator could use both Hibernate Validator and JSR-301 Bean Validator libraries ( that has some bugs in the 3.3.1.GA but snapshot version works stable ).
3) RichFaces also supports object tree validation.