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@mathfac mathfac released this 30 Jun 10:20
v0.2.1
bc85d09
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Learn about vigilant mode.

Major features and improvements:

  • Addition of velocity_control actions and support for Gaussian action (#655)

House Assistant Benchmarks Task Changes:

  • Collision force measurements fixes. (#684)
  • Contact measuring API changes with properly return contacts differentiating between object-on-scene, robot-on-scene, and robot-on-object types of contacts.
  • Starting state and the robot arm proper location fix.
  • Snap to grasp manager implemented and the grasp manager takes care of the collision groups.
  • Refactored observations_to_image to allow variable-sized sensor images. The different image sizes are now tiled side by side. Image and text flip fix. (#687)
  • Added actions for setting absolute kinematic state and target joint states. (#685)
  • Added separate IK config for the interactive play script.
    Refactored measurements code to break down the reward signal and reuse measurements for the reward and success signal.

Habitat Baselines Changes:

  • Support rendering images from observation with unequal dimensions.
  • Added benchmark_render.py, a new version of benchmark.py which supports rendering videos and saving trajectories to a file.
  • Added Gym wrapper with config for which parts of the observation to get.
  • Added Sense Plan Act pipeline from Habitat 2.0 paper.

Other improvements and bug fixes:

  • Add detail of headless vs. not to the readme (#679)
  • Fix to use resume config when training (#695)
  • Fix bug with size of the joint observation space.
  • Fixed the base transform was not being properly calculated.
  • Added interactive play test utility script. This is an important way to test the functionality. (#684)
  • Added collision specific measurements.
  • Refactored the rearrange simulator class to have less responsibility.
  • Record trajectory from the interactive play script for automated testing.
  • Added episode generation script for rearrangement tasks under examples folder.
  • Fixed properly load in scene config for new ReplicaCAD format.

Corresponding Habitat-Sim v0.2.1 release.

Kudos to our community contributors: @naokiyokoyama.

Contributors

naokiyokoyama
Assets 2
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