From be4cbe8d7304c322cb282c08dcd156436193d06a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Antonio=20Serrano=20Mu=C3=B1oz?= Date: Wed, 16 Aug 2023 14:42:38 +0200 Subject: [PATCH] Update CHANGELOG --- CHANGELOG.md | 38 +++++++++++++++++++++++++++++++------- 1 file changed, 31 insertions(+), 7 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 1d77eb10..745e2b14 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,14 +2,34 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). +## [1.0.0] - 2023-08-16 + +Transition from pre-release versions (`1.0.0-rc.1` and`1.0.0-rc.2`) to a stable version. + +This release also announces the publication of the **skrl** paper in the Journal of Machine Learning Research (JMLR): https://www.jmlr.org/papers/v24/23-0112.html + +Summary of the most relevant features: +- JAX support +- New documentation theme and structure +- Multi-agent Reinforcement Learning (MARL) + ## [1.0.0-rc.2] - 2023-08-11 ### Added - Get truncation from `time_outs` info in Isaac Gym, Isaac Orbit and Omniverse Isaac Gym environments - Time-limit (truncation) boostrapping in on-policy actor-critic agents - Model instantiators `initial_log_std` parameter to set the log standard deviation's initial value +### Changed (breaking changes) +- Structure environment loaders and wrappers file hierarchy coherently + Import statements now follow the next convention: + - Wrappers (e.g.): + - `from skrl.envs.wrappers.torch import wrap_env` + - `from skrl.envs.wrappers.jax import wrap_env` + - Loaders (e.g.): + - `from skrl.envs.loaders.torch import load_omniverse_isaacgym_env` + - `from skrl.envs.loaders.jax import load_omniverse_isaacgym_env` + ### Changed -- Structure environment loaders and wrappers file hierarchy coherently [**breaking change**] - Drop support for versions prior to PyTorch 1.9 (1.8.0 and 1.8.1) ## [1.0.0-rc.1] - 2023-07-25 @@ -66,7 +86,7 @@ and Omniverse Isaac Gym environments when they are loaded ### Added - Support for Farama Gymnasium interface - Wrapper for robosuite environments -- Weights & Biases integration (by @juhannc) +- Weights & Biases integration - Set the running mode (training or evaluation) of the agents - Allow clipping the gradient norm for DDPG, TD3 and SAC agents - Initialize model biases @@ -75,9 +95,11 @@ and Omniverse Isaac Gym environments when they are loaded - Farama Shimmy and robosuite examples - KUKA LBR iiwa real-world example +### Changed (breaking changes) +- Forward model inputs as a Python dictionary +- Returns a Python dictionary with extra output values in model calls + ### 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 @@ -98,7 +120,7 @@ to allow storing samples in memories during evaluation - Gaussian model mixin - Support for creating shared models - Parameter `role` to model methods -- Wrapper compatibility with the new OpenAI Gym environment API (by @juhannc) +- Wrapper compatibility with the new OpenAI Gym environment API - Internal library colored logger - Migrate checkpoints/models from other RL libraries to skrl models/agents - Configuration parameter `store_separately` to agent configuration dict @@ -107,11 +129,13 @@ to allow storing samples in memories during evaluation - Benchmark results for Isaac Gym and Omniverse Isaac Gym on the GitHub discussion page - Franka Emika real-world example +### Changed (breaking changes) +- Models implementation as Python mixin + ### 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 @juhannc) +- Show training/evaluation display progress using `tqdm` - Update Isaac Gym and Omniverse Isaac Gym examples ### Fixed