release/0.1.25

What's Changed

• Add fingers to Franka by @yardenas in #211
• Rccar hardware baseline by @yardenas in #212
• Use red box by @yardenas in #213
• add lbsgd penalizer and example config for cartpole swingup by @yardenas in #216
• Add implementation of pure exploration by @yardenas in #217
• Second attempt on offline rccar + hardware by @yardenas in #214
• minor changes to log barriers implementation and finish tuning by @acpoll in #218
• Walker offline by @ManuelWendl in #219

Full Changelog: release/0.1.24...release/0.1.25

release/0.1.24

What's Changed

• Implementation of sooper with vision by @yardenas in #205
• Add breaking controller by @yardenas in #207
• Lagrangian baselines by @acpoll in #210
• Sooper go-to-goal v2 by @ManuelWendl in #209

Final parameters for SOOPER paper

Full Changelog: release/0.1.23...release/0.1.24

release/0.1.23

What's Changed

• MBPO + Vision by @yardenas in #200
• SOOPER + Vision by @yardenas in #202
• Fix bugs in sooper by @yardenas in #204
• Updates to Franka Online by @yardenas in #203
• Variable goal size for go-to-goal environment by @acpoll in #206

Online learning on franka works

Full Changelog: release/0.1.22...release/0.1.23

release/0.1.22

What's Changed

• Load auxiliaries by @yardenas in #189
• Add PointGoal1 by @yardenas in #190
• Sooper humanoid by @ManuelWendl in #191
• Take other fix by @yardenas in #192
• Handle safe penalizer without sooper by @yardenas in #193
• Take other fix by @yardenas in #194
• Fix normalizer in offline by @yardenas in #195
• Sooper gtg easy offline by @ManuelWendl in #196
• Add offline data collection by @yardenas in #197
• Logging updates by @yardenas in #198
• SPiDR from Vision by @yardenas in #177
• Fix MBPO vision wrapper by @yardenas in #199
• Sooper go to goal v1 improved version by @ManuelWendl in #201

Offline on PointGoal1

Full Changelog: release/0.1.21...release/0.1.22

release/0.1.21

What's Changed

• Observation wrapper safety gym by @ManuelWendl in #185
• Observation wrapper walker by @ManuelWendl in #187
• Preprocess RBG images by @yardenas in #172
• Sooper walker walk by @ManuelWendl in #188

Walker baseline and franka arm sim-to-real

Full Changelog: release/0.1.20...release/0.1.21

release/0.1.20

What's Changed

• Sooper cartpoleswingup by @ManuelWendl in #169
• Franka hardware debug image by @yardenas in #171
• Get offline training working by @ManuelWendl in #173
• Collect offline data by @yardenas in #174
• Offline config by @ManuelWendl in #175
• Sooper rccar by @ManuelWendl in #176
• MBPO no pessimistic sample by @yardenas in #178
• if case dict by @yardenas in #179
• Minor utility things by @acpoll in #180
• Eval policy by @acpoll in #182
• Fix wrapping of eval env in safety gym by @ManuelWendl in #183
• Rccar Hardware Offline Training by @ManuelWendl in #184

Offline to online works

Full Changelog: release/0.1.19...release/0.1.20

release/0.1.19

What's Changed

• Franka hardware training by @yardenas in #165
• Hardware on RaceCar by @yardenas in #170

Full Changelog: release/0.1.18...release/0.1.19

release/0.1.18

What's Changed

• Configure sooper filtering as parameter by @yardenas in #133
• Aloha by @yardenas in #128
• rccar environment with integrated FrameActionStack and ActionObservationDelayWrapper by @ManuelWendl in #134
• Sooper benchmarks by @yardenas in #136
• Initial commit by @yardenas in #135
• Sooper rccar real by @yardenas in #138
• Fix bug in sac training replay buffer by @yardenas in #140
• Add image observations by @yardenas in #137
• Fix init alpha by @yardenas in #142
• Sac vision improvement by @yardenas in #141
• Add scheduler to RAE by @yardenas in #143
• Minor changes to make Euler guide easier to follow by @acpoll in #144
• Wagener implementation by @ManuelWendl in #146
• Add franka by @yardenas in #147
• Update steps on euler by @yardenas in #148
• Use pytree replay buffer in rae by @yardenas in #149
• Don't collect data if offline flag is on by @yardenas in #150
• Add panda policy loading by @yardenas in #151
• Add vision to mbpo by @yardenas in #152
• Actor does the same grad steps as critic, just updating the params less by @yardenas in #154
• Fix bug in checkpoint loading by @yardenas in #155
• Save and load alpha by @yardenas in #156
• Add sim-to-sim experiments for franka by @yardenas in #153
• Fix FPS bug by @yardenas in #160
• Fix target initialization by @ManuelWendl in #161
• Add matplotlib by @yardenas in #162
• Add ball by @yardenas in #159
• On policy sac buffer by @ManuelWendl in #166
• Sooper rccar hardware by @yardenas in #168

Stable version on RaceCar hardware (one seed)

New Contributors

• @acpoll made their first contribution in #144

Full Changelog: release/0.1.17...release/0.1.18

release/0.1.17

What's Changed

• Update and clean deps to support madrona by @yardenas in #129
• Safe mbpo by @yardenas in #121
• Generalize saute by @yardenas in #130
• Sooper by @ManuelWendl in #132
• Add penalizer to mbpo by @yardenas in #131

Implementation of SOOPER works on cartpole swingup

Full Changelog: release/0.1.16...release/0.1.17

release/0.1.16

What's Changed

• Dump buffer by @yardenas in #104
• Bump tornado from 6.4.2 to 6.5.1 by @dependabot in #106
• Rea by @yardenas in #105
• Implementation of Model-based PPO by @ManuelWendl in #107
• Make RAE experiment easier by @yardenas in #108
• Minor updates by @yardenas in #109
• Split by @yardenas in #110
• Make mb ppo work by @yardenas in #111
• Implementation of MBPO by @yardenas in #112
• Mbpo no replay by @yardenas in #113
• Use done for model learning by @yardenas in #116
• Add hard autoreset wrapper by @yardenas in #115
• Add safety and terminations to the planning MDP by @yardenas in #114
• Updates from the sample efficiency branch by @yardenas in #117
• Cost-Critic Implementation by @ManuelWendl in #118
• Restore to the best working version by @yardenas in #119
• Fix bugs in how transitions are parserd by @yardenas in #120
• Take updates from get-back-good-perf by @yardenas in #122
• Make sure that main is OK by @yardenas in #123
• Parameterize the schedules by @yardenas in #124
• Preparing for RAE analysis by @yardenas in #125
• Add go2 by @yardenas in #126
• Smarter rae by @yardenas in #127

New Contributors

• @ManuelWendl made their first contribution in #107

Full Changelog: release/0.1.15...release/0.1.16