Releases: Farama-Foundation/HighwayEnv
Releases · Farama-Foundation/HighwayEnv
Hotfix of parking env reward function
Hotfix of env registration entrypoint with gymnasium
v1.8.1 Release 1.8.1
Move from gym to gymnasium
- fix vehicle order in occupancy grid obs
- fix broken seeding implementation
- support numpy types for discrete actions
- use Runge-Kutta 4 integration for dynamical continuous actions, making the dynamics make more stable
- use gymnasium rather than gym
Hotfix of parking env init
Add support for gym 0.26
- Change the step / reset / render interfaces to match the new API of gym 0.26
- Drop support for gym <0.26
Environment variants with continuous actions and multi-objective, bug fixes.
- fix a bug in generating discrete actions from continuous actions
- fix more bugs related to changes in gym's latest versions
- new intersection-env variant with continuous actions
- add longitudinal/lateral/angular offsets to the lane as part of the kinematics observation's features
- add more configurable options for reward function and termination conditions
- add configurable min/max speed for continuous actions
- bug fix for reward computation in the multi-agent setting
- add get_available_actions for MultiAgentAction
- fix various deprecation warnings
- add a multi-objective version of HighwayEnv
Huge thanks to contributors @zerongxi, @TibiGG, @KexianShen, @lorandcheng
New observation types and lane geometries, and bug fixes
- Add documentation on continuous actions
- Fix various bugs or imprecision in collision checks and obstacles rendering
- Image observations are now centered on the observer vehicle
- Fix the lane change behaviour in some situations
- Add
TupleObservation
, which is a union of several observation types - Improve the accuracy of the
LidarObservation
- Add support for
PolyLane
, and methods to save/load road networks from a config - Fix steering wheel / angle conversion
- Change of the velocity term projection in the reward function
- Add support for latest gym versions (>=0.22) which dropped the Monitor wrapper
- Add a copy of the
GoalEnv
interface which was removed from gym
New continuous control environment: racetrack-v0
This release introduces additional content:
- a new continuous control environment,
racetrack-v0
, where the agent must learn to steer and follow the tracks, while avoiding other vehicles - a new
"on_road"
layer in theOccupancyGrid
observation type, which enables the observer to see the drivable space - a new
"align_to_vehicle_axes"
option in theOccupancyGrid
observation type, which renders the observation in the local vehicle frame - a new
DiscreteAction
action type, which discretizes the originalContinuousAction
type. This allows to do low-level control, but with a small discrete action space (e.g. for DQN). Note that this is different from theDiscreteMetaAction
type, which implements its own low-level sub-policies. - new example scripts and notebooks for training agents, such as a PPO continuous control policy for racetrack-v0.
- updated documentation
Faster variant of highway-v0, and bug fixes
This release contains
- A few fixes for compatibility with SB3
- Some changes for video rendering and framerate
highway-fast-v0
: a faster variant of highway-v0 to train/debug models more quickly
Compatibility with stable-baselines3
Minor update with
- different handling of image observations + example script with stable baselines
- small changes in the dynamical model