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Changelog

0.2.1 - 2026-07-20

Added

  • Faithful replay of recorded episodes: new robolab/core/replay/ module with recorded env-config overlay, initial-state restore, and per-step state validation; driver script examples/run_recorded.py; user guide docs/replay.md. (#19)
  • Batched inference support in the eval client interface.
  • The pytest install-verification suite now ships in tests/ (documented fresh-install check: uv run pytest tests/).

Changed

  • Subtask progress tracking is enabled by default during evaluation.
  • Updated the GR00T N1.7 client. (#15)
  • Overrode isaacsim's stale websockets==12.0 pin so uv lock resolves a modern websockets for the policy clients.

Fixed

  • WorldState extras handling on IsaacLab 2.3 (XformPrimView).

0.2.0 - 2026-07-07

Added

  • IsaacSim 5.1 / IsaacLab 2.3 support alongside 5.0 / 2.2, selected via the mutually-exclusive isaac50 / isaac51 extras.
  • Relative differential-IK environment registrations (examples/run_rel_ik_demo.py).
  • Realtime/pathtracing RTX renderer selection via --rendering-type.
  • Poly Haven attribution files for the curated backgrounds.

Changed

  • Bundled backgrounds trimmed to a curated indoor set. More backgrounds can be obtained from Poly Haven.
  • End-effector pose position is recorded in the env-local frame.
  • Docs: asset contribution guidelines, conditionals restructure; generalized VRAM sizing guide.

Fixed

  • HDF5 episode success is derived from terminated rather than a named termination term.

0.1.1 - 2026-05-31

Added

  • Cosmos3 policy client; refreshed DreamZero, GR00T, and Pi0-family clients.
  • Results dashboard (robolab-dashboard CLI).
  • /robolab-scenegen and /robolab-taskgen Claude Code skills.
  • Convex-hull placement predicates, adaptive sampling, and DROID IK control.
  • CONTRIBUTING.md and a uv-based install flow.

Changed

  • Per-policy reorganization: one runner per backend under policies/<policy>/run.py.
  • Docs revamp: per-policy READMEs, SPDX headers, THIRD_PARTY_NOTICES.md.
  • Episode videos encoded as streaming H.264 (libx264) so they play in browsers.

Fixed

  • Placement order enforced in then-sequenced tasks.
  • Frozen-env data leaks in the episode recorder.

0.1.0 - 2026-04-10

Initial public release: 100+ benchmark tasks, DROID and Franka embodiments, server-client policy evaluation (Pi0 family, GR00T, DreamZero), and HDF5 episode recording with analysis tools.