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As always, we have a LOT of new updates and this time they are mostly community-driven.

Ovewrview

Terminated/truncated support and Gymnasium wrapper [#143]

Thanks to @LukasSchaefer, we now have the option to return terminated and truncated from vmas envs instead of done.

We further have wrappers for gymnasium (single vmas env) and vectorized gymnasium, which wraps a batched vmas environemnt, maintaining the n_envs dimension in the data.

Choose how you want to discretize continuous actions [#119]

Before, continuous actions were discretized in 3 options: increase, decrease, stay

Now, thanks to @rikifunt, you can choose how many options you want to split the continuous range in!

Vectorized lidars [#124]

Lidars have multiple rays that can see multiple entities. Thanks to @Zartris we know have vectorized both these dimensions making scaling seamless in the number of rays.

VIsualize the boundaries of the world [#142]

Thanks to @Giovannibriglia, if you set the world bouindaries in a scenario, VMAS now automatically plots them

More dynamics [#125]

  • Static: no movement actions
  • Forward: just froward and backwards force in the direction of the orientation
  • Rotation: just rotation action

Breaking changes

  • env.unwrapped() -> env.unwrapped in GymWrapper
  • removed from "discovery" a redundant agent.state.pos in observation

What's Changed

New Contributors

Full Changelog: https://github.com/proroklab/VectorizedMultiAgentSimulator/compare/1.4.2...1.4.3

Source: README.md, updated 2024-09-21