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@rodrigodelazcano rodrigodelazcano released this 18 Sep 15:10
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v1.2.3
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Learn about vigilant mode.

Gymnasium-Robotics v1.2.3 Release Notes:

Breaking changes:

  • Drop support for Python 3.7 which has reached its end of life. (#159)
  • New v4 version for the AntMaze environments that fix the following issue #155. (#156)

Bug Fixes:

  • Allow to compute rewards from batched observations in maze environments (PointMaze/AntMaze) (#153, #158)
  • Bump AntMaze environments version to v4 which fix issue #155. The following new files have been added to the source code: ant_maze_v4.py and maze_v4.py. (#156). The fixes involve:
    • When the environment is initialized with continuing_task=True, the reward is now calculated before resetting the goal location. Previously the reward was always zero whether the ant reached the goal or not during the full episode.
    • Fix the ant agent being reset into a terminal state. The maze_size_scaling factor was missing in the distance check in MazeEnv.generate_reset_pos().
    • Add success item to info return. info["success"].
  • Fix goal_cell and reset_cell assertions when reset maze environments (#164, #179)
  • Fix issue #166 in FrankaKitchen environment. info["tasks_to_complete"] was not giving the correct values. (#169)

New Features

  • Add reset_target boolean argument for initializing maze environments. If reset_target=True and continuing_task=True, the goal will be automatically placed in a new location when the agent reaches it in the same episode. If reset_target=False and continuing_task=True, the goal location won't be updated when reached by the agent and reward will be accumulated as long as the agent stays around the goal threshold. (#167, #170)
  • For maze environments, if the goal and reset cell locations are not given in the maze map structuree, they will be chosen automatically among empty cells. (#170)

Dependency Updates

  • Remove restrictions on numpy version, numpy>=1.21.0 (#154)
  • Remove restrictions on mujoco version, mujoco>=2.3.3 (#171)
  • Restrict cython version to cython<3 due to the following issue Farama-Foundation/Gymnasium#616, (#162)

Documentation Updates

  • Replace main logo svg format with png (#160)
  • Update sphinx to latest version (#157)
  • Add release notes changelog (#174)
  • Remove versioning for included environments in documentation and update gifs for maze environments (#172, #177)
  • Fix table format for Shadow Dexterous Hand - Reach environment (#178)

Full Changelog: v1.2.2...v1.2.3

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