skrl-v0.10.0

[0.10.0] - 2023-01-22

Added

• Isaac Orbit environment loader
• Wrap an Isaac Orbit environment
• Gaussian-Deterministic shared model instantiator

skrl-v0.9.1

[0.9.1] - 2023-01-17

Added

• Utility for downloading models from Hugging Face Hub

Fixed

• Initialization of agent components if they have not been defined
• Manual trainer train/eval method default arguments

skrl-v0.9.0

[0.9.0] - 2023-01-13

Added

• Support for Farama Gymnasium interface
• Wrapper for robosuite environments
• Weights & Biases integration (by @juhannc)
• Set the running mode (training or evaluation) of the agents
• Allow clipping the gradient norm for DDPG, TD3 and SAC agents
• Initialize model biases
• Add RNN (RNN, LSTM, GRU and any other variant) support for A2C, DDPG, PPO, SAC, TD3 and TRPO agents
• Allow disabling training/evaluation progressbar
• Farama Shimmy and robosuite examples
• KUKA LBR iiwa real-world example

Changed

• Forward model inputs as a Python dictionary [breaking change]
• Returns a Python dictionary with extra output values in model calls [breaking change]
• Adopt the implementation of terminated and truncated over done for all environments

Fixed

• Omniverse Isaac Gym simulation speed for the Franka Emika real-world example
• Call agents' method record_transition instead of parent method
  to allow storing samples in memories during evaluation
• Move TRPO policy optimization out of the value optimization loop
• Access to the categorical model distribution
• Call reset only once for Gym/Gymnasium vectorized environments

Removed

• Deprecated method start in trainers

skrl-v0.8.0

[0.8.0] - 2022-10-03

Added

• AMP agent for physics-based character animation
• Manual trainer
• Gaussian model mixin
• Support for creating shared models
• Parameter role to model methods
• Wrapper compatibility with the new OpenAI Gym environment API (by @JohannLange)
• Internal library colored logger
• Migrate checkpoints/models from other RL libraries to skrl models/agents
• Configuration parameter store_separately to agent configuration dict
• Save/load agent modules (models, optimizers, preprocessors)
• Set random seed and configure deterministic behavior for reproducibility
• Benchmark results for Isaac Gym and Omniverse Isaac Gym on the GitHub discussion page
• Franka Emika real-world example

Changed

• Models implementation as Python mixin [breaking change]
• Multivariate Gaussian model (GaussianModel until 0.7.0) to MultivariateGaussianMixin
• Trainer's cfg parameter position and default values
• Show training/evaluation display progress using tqdm (by @JohannLange)
• Update Isaac Gym and Omniverse Isaac Gym examples

Fixed

• Missing recursive arguments during model weights initialization
• Tensor dimension when computing preprocessor parallel variance
• Models' clip tensors dtype to float32

Removed

• Parameter inference from model methods
• Configuration parameter checkpoint_policy_only from agent configuration dict

skrl-v0.7.0

[0.7.0] - 2022-07-11

Added

• A2C agent
• Isaac Gym (preview 4) environment loader
• Wrap an Isaac Gym (preview 4) environment
• Support for OpenAI Gym vectorized environments
• Running standard scaler for input preprocessing
• Installation from PyPI (pip install skrl)