diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7fe7ba8f65..c755b07c8c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,10 @@ All notable changes to this project are documented in this file.
 ## [unreleased]
 ### Added
 - Implement a class to perform inference with the [MANN network](https://github.com/ami-iit/mann-pytorch) (https://github.com/ami-iit/bipedal-locomotion-framework/pull/652)
+- Implement `LieGroupDynamics` in `ContinuousDynamicalSystem` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/659)
+- Implement `Conversions::toiDynTreePose()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/659)
+- Implement `Conversions::toiDynTreePose()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/659)
+- Implement Implement `MANNAutoregressive` class in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/659)
 
 ### Changed