v3.0.0b10

v3.0.0b10 is released

This new version introduces a lot of new features

• Ant walk/run control tasks added and solvable via visual/state based PPO
• New, clean, systematic wrappers/design for fairly evaluating algorithms in simulation for RL, IL etc.
• All end-effector / IK based controllers are now GPU parallelized. Big thank you to @LemonPi for help on batched IK control via their pytorch kinematics library
• four Real2sim environments from SIMPLER have been added, cleaned up, and show good correlation between sim and real success rates and low MMRV relative to original CPU implementations. Evaluation is now 60-100x faster than the real world!
• Trajectory conversion tool for the panda arm is now much more accurate. Tasks like peg insertion / plug charger can convert from pd joint position to any other action space with a much higher success rate.
• Panda wristcam robot had an incorrect initialization on the table scene which has been fixed.
• A base drawing simulation environment with no tasks or demos at the moment
• TwoRobotPickCube-v1 has a new more optimized reward function
• Updated baselines to adhere to new standards of evaluation metrics and reporting
• New sim+rendering benchmarks
• Fix various bugs

Demos of the new drawing environment and real2sim environments below

drawing_special_s_symbol_task.mp4

real2sim_spoon_task.mp4

What's Changed

• [BugFix] Fix bug with processing segmentation images for older torch versions by @StoneT2000 in #532
• [BugFix] Bump sapien dependency in tdmpc2 baseline for mani_skill update by @chenyenru in #527
• Added MS Ant Walk and Run Tasks by @Xander-Hinrichsen in #533
• [Feature] Updated TD-MPC2 evaluation and fixed some bugs by @t-sekai in #538
• Added behavior cloning baselines by @arnavg115 in #531
• [Feature] Align and simplify policy/ML evaluation in ManiSkill by @StoneT2000 in #544
• [Feature] Massively improve success rate of pd joint pos / delta pos conversion to pd ee delta pos/pose controller by @StoneT2000 in #549
• [Feature] Clean up trajectory replay code and more docs on the tool by @StoneT2000 in #552
• panda wristcam initialization added by @jamesahou in #553
• [Feature] Drawing Simulation Base Environment by @StoneT2000 in #555
• [BugFix] Fix CPU articulation net contact forces being wrong shape by @StoneT2000 in #556
• [Feature] Real2Sim Eval Digital Twins by @StoneT2000 in #536
• Solved PPO for TwoRobotPickCube-v1 by @jamesahou in #562
• Behavior cloning bugfixes by @arnavg115 in #565
• [Docs] New benchmarking scripts by @StoneT2000 in #568
• Benchmarking code 2.0 by @StoneT2000 in #573
• [BugFix] Fix panda_v2_gripper.urdf visual mesh suffix (dae->glb) by @kh11kim in #575
• [Docs] More rendering benchmarking by @StoneT2000 in #580
• [Docs] Sim+rendering Benchmarking, matching visuals by @StoneT2000 in #584
• [Docs] Paper upload and update documentation and READMEs by @StoneT2000 in #585
• [Docs] fix typos in paper header by @StoneT2000 in #586
• [Docs] Update docs on controllers and fix video link by @StoneT2000 in #589
• [Feature] Updated TD-MPC2 with CPU mode and new shared metrics by @t-sekai in #578
• [Version] v3.0.0b10 by @StoneT2000 in #591

New Contributors

• @chenyenru made their first contribution in #527
• @jamesahou made their first contribution in #553
• @kh11kim made their first contribution in #575

Full Changelog: v3.0.0b9...v3.0.0b10