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@duburcqa duburcqa released this 09 Feb 14:27
2354bc0

Small release that fixes several critical bugs related to quantity management and ray[RLlib] interface that were introduced recently. The overall performance of environment composition has been improved, especially for short-living episodes (<100 steps).

New features

  • [gym_jiminy/common] Add mechanical power consumption reward. (#873)
  • [gym_jiminy/common] Add 'DriftTrackingBaseOdometryPoseReward'. (#874)
  • [gym_jiminy/toolbox|rllib] Implement task score at scheduler level rather than task settable wrapper level. (#876)

Improvements

  • [gym_jiminy/common] Add support of 'horizon=None' to MechanicalPowerConsumptionTermination. (#870)
  • [gym_jiminy/common] 'TrackingBaseHeightReward' now relies on relative base height rather than absolute. (#874)
  • [gym_jiminy/common] Rename 'ReferencePositionWithTrueOdometryPose' in 'ReferencePositionVector' and add option to disable odometry pose override. (#874)
  • [gym_jiminy/common] Add support of scalar concatenation to 'ConcatenatedQuantity'. (#875)
  • [gym_jiminy/common] Make sensor space bounds infinite to avoid out-of-bounds measurements due to noise/bias to trigger termination. (#875)
  • [gym_jiminy/common] Move PD deadband from PDController to PDAdapter to fix position/velocity inconsistency. (#876)
  • [gym_jiminy/common] Refactor 'DeltaQuantity' to improve performance for long horizon. (#880)
  • [gym_jiminy/common] Speedup dataset trajectory select. (#882)
  • [gym_jiminy/common] Speed up quantity reset by avoiding redundant state computations. (#883)
  • [gym_jiminy/toolbox] Do NOT raise exception if score is out-of-bounds. (#871)
  • [gym_jiminy/rllib] Add option to override env config when restoring runners. (#872)
  • [gym_jiminy/rllib] Restore curriculum state from checkpoints. (#878)

Patches and bug fixes

  • [python/dynamics] Fix trajectory interpolation mode 'clip'. (#873)
  • [python/dynamics] Fix bug making 'Trajectory.get' extremely inefficient. (#881)
  • [gym_jiminy/common] Fix 'MechanicalPowerConsumption' not exposed. (#870)
  • [gym_jiminy/common] Fix 'play_interactive'. (#871)
  • [gym_jiminy/common] Fix mechanical power termination condition. (#873)
  • [gym_jiminy/common] Fix 'BaseRelativeHeight' quantity ignoring mode. (#873)
  • [gym_jiminy/common] Fix deformation observer with backlash enabled. (#876)-
  • [gym_jiminy/common] Fix stack length computation from horizon. (#880)
  • [gym_jiminy/rllib] Fix eval runner connector stats not sync w/ eval. (#870)
  • [gym_jiminy/rllib] Fix eval runner connector updated during sample collection. (#870)
  • [gym_jiminy/rllib] Fix connector state not properly restored after loading checkpoint. (#871)
  • [gym_jiminy/rllib] Fix log paths not deleted during evaluation. (#877)

Miscellaneous

  • [misc] Fix Sphinx doc (github-pages) broken refs. (#870)
  • [misc] Fix RL tutorial notebook. (#880)