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