v3.0.0

Overview

RSL RL now supports observation dictionaries using the TensorDict library. Different observation groups with different shapes can thus be handled seemlessly, e.g., vision inputs. To assign different observation groups to the correct part of the policy, a dictionary maps

Additionally, the code has been refactored to be more modular and flexible. The main changes are:

• An additional runner class for student-teacher distillation
• An MLP class that can be used to build custom policies
• Normalization is now part of the policy and can be set for different parts, e.g., actor and critic, seperately.

Full Changelog: v2.3.3...v3.0.0

Added

• Adds support for observation dictionaries and refactors code for better modularity by @ClemensSchwarke in 6983041
• Renames observation types to observation sets by @Mayankm96 in 830fa98
• Allows the policy to be loaded on CPU. by @kevinzakka in #98

Breaking Changes

• Isaac Lab does not yet support the new observation handling. There is an open PR (isaac-sim/IsaacLab#2962) that can be used until the changes are merged.

New Contributors

• @kevinzakka made their first contribution in #98