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