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@yuecideng yuecideng released this 19 Mar 16:10
· 195 commits to main since this release
v0.1.2
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EmbodiChain v0.1.2 Release Notes

Highlights

This release introduces significant improvements to the RL training pipeline, new gripper support, USD interoperability, Online Data Streaming implementation and mang bug fixed. For detail, please see below.

Breaking Changes

  • RL Rollout Refactoring: Refactored RL rollout with collector/buffer separation and shared TensorDict by @yangchen73 in
    #175
  • Action Manager: Implemented an action manager to process action and replaced RLEnv with EmbodiEnv by @yangchen73 in #164

New Features

  • SDF Collision: Added support for SDF collision for rigid bodies by @MahooX in #185
  • Arena Space: Added arena_space argument to environment configuration by @yuecideng in #187
  • Online Data Streaming: Added support for online data streaming engine by @yuecideng in #160
  • USD Import: Added import USD functionality by @MahooX in #127
  • USD Export: Added export USD functionality by @MahooX in #168
  • GRPO Algorithm: Implemented GRPO (Group Relative Policy Optimization) algorithm by @yangchen73 in #146
  • GRPO Camera: Added camera to record GRPO training by @yangchen73 in #146
  • Gripper Support: Added Robotiq 85 140 DH AG95 gripper support by @matafela in #177
  • Semantic Mask: Split robot left/right index in semantic mask computation by @dexscutai in #142
  • Indirect Light: Added support for indirect light setting for environment by @yuecideng in #161
  • Planner Enhancement: Added planner grid cell sampler by @yuecideng in #147
  • Light Control: Added light keyboard control for runtime adjustment by @yuecideng in #140

Bug Fixes

  • URDF Assembly: Fixed URDF assembly for copying mtl file by @yuecideng in #184
  • Dataset Saving: Fixed dataset saving for single episode in run_env by @yuecideng in #178
  • Contact Sensor: Fixed contact sensor visualization by @yangchen73 in #170
  • Observation Manager: Fixed observation manager issue for adding new keys by @yuecideng in #169
  • OPW Solver: Fixed OPW solver issues by @matafela in #152
  • Robot IK: Fixed [xyz, quat] format pose IK computation for robots by @yuecideng in #149
  • Trainer Config: Fixed num_envs override from trainer config by @yangchen73 in #148
  • Cartpole Training: Fixed cartpole training by @yangchen73 in #155
  • UR5 Asset: Updated UR5 assets by @yuecideng in #167

Improvements

  • Functor Tests: Added unit tests for all functors by @yuecideng in #181
  • RigidObject Velocity: Added set velocity for RigidObject by @yuecideng in #179
  • Manager Docs: Enhanced manager documentation for action, reward, and dataset by @yuecideng in #176
  • Dataset Filter: Added filter dataset saving for environment by @yuecideng in #143
  • Cached Property: Updated cached property implementation by @yhnsu in #141
  • Trajectory Interp: Added interpolated trajectory with segment numbers by @matafela in #151
  • Physics Step: Updated physics step for spatial functors by @yuecideng in #144
  • MotionGenerator: Refactor Planner and MotionGenerator by @matafela in #173

Documentation

  • URDF Assembly Tool: Added documentation for URDF Assembly Tool by @yuecideng in #174
  • New Robot: Added documentation for adding new robots by @yuecideng in #172
  • RL Module: Updated RL module API documentation by @yuecideng in #171
  • AGENTS.md: Added AGENTS.md for developer reference by @yuecideng in #165
  • CLAUDE.md: Added CLAUDE.md with AI assistant guidelines by @yuecideng in #162

Full Changelog: v0.1.1...v0.1.2

This release contains 39 commits from 6 contributors: @Chen Yang, @Chen Jian, @yueci Deng, @MahooX, @yhnsu , and
@dexscutai.

Contributors

Chen, matafela, and 6 other contributors
Assets 2
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