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@Toni-SM Toni-SM released this 11 Sep 18:32
· 3 commits to main since this release
3bd530c

[1.3.0] - 2024-09-11

Added

  • Distributed multi-GPU and multi-node learning (JAX implementation)
  • Utilities to start multiple processes from a single program invocation for distributed learning using JAX
  • Model instantiators return_source parameter to get the source class definition used to instantiate the models
  • Runner utility to run training/evaluation workflows in a few lines of code
  • Wrapper for Isaac Lab multi-agent environments
  • Wrapper for Google Brax environments

Changed

  • Move the KL reduction from the PyTorch KLAdaptiveLR class to each agent that uses it in distributed runs
  • Move the PyTorch distributed initialization from the agent base class to the ML framework configuration
  • Upgrade model instantiator implementations to support CNN layers and complex network definitions,
    and implement them using dynamic execution of Python code
  • Update Isaac Lab environment loader argument parser options to match Isaac Lab version
  • Allow to store tensors/arrays with their original dimensions in memory and make it the default option

Changed (breaking changes)

  • Decouple the observation and state spaces in single and multi-agent environment wrappers and add the state
    method to get the state of the environment
  • Simplify multi-agent environment wrapper API by removing shared space properties and methods

Fixed

  • Catch TensorBoard summary iterator exceptions in TensorboardFileIterator postprocessing utils
  • Fix automatic wrapper detection issue (introduced in previous version) for Isaac Gym (previews),
    DeepMind and vectorized Gymnasium environments
  • Fix vectorized/parallel environments reset method return values when called more than once
  • Fix IPPO and MAPPO act method return values when JAX-NumPy backend is enabled