Envpool

Speed Improvement

1. replace dm-tree with treevalue (206, wangsiping97, dmc 6k->8k FPS)
2. move python computation logic into c++ (208, wangsiping97, dmc 8k->11k FPS)
3. cache c++ object read result (209, wangsiping97, dmc 11k->14k FPS)
4. improve gym speedup (210, wangsiping97, gym 11k->14k FPS)

Now we are truly faster than dm_control!

Enhancement

1. upgrade examples to support gym >= 0.26 (215, 51616)
3. update demo links in README (212, Benjamin-eecs)
4. better arugment checking in python side init (217, Trinkle23897)
6. refactor some tests (210, Trinkle23897)
1. fix gym action space seed behavior error (211, Trinkle23897)

Enhancement

1. Box2D integration: Add BipedalWalker, BipedalWalkerHardcore (131, Alicia1529)
2. Support Gym 0.26.0 (205, Markus28)
3. Add demo notebook (202, Benjamin-eecs)

Enhancement

1. Fix Atari env elapsed_step error when episodic_life is True (181, Trinkle23897)
2. Upgrade mujoco to 2.2.1 (183, Trinkle23897)
3. Add Python 3.10 Wheel and update documentation (187, Trinkle23897)

Bug Fix

1. Fix import error with gym==0.25.0 (167, Trinkle23897)
2. Fix zero-life reset error in Atari env (175, Trinkle23897)

Enhancement

1. Refactor the XLA code to simplify it and at the same time include GPU code (165, mavenlin)
2. Add acme example (157, lkevinzc)
3. Add colab demo (159, Benjamin-eecs)

Bug Fix

1. Fix action ref counting error (154, Trinkle23897)

New Env

1. dm_control humanoid_CMU (145, Benjamin-eecs)

Enhancement

1. XLA CustomCall interface, now we can use `jax.jit` on EnvPool (149, mavenlin)
2. Remove Atari wrong bin (147, Trinkle23897)
3. Add dm_control speed test script and single env performance benchmark (139, Trinkle23897)
4. Upgrade mujoco to 2.2.0 (142, Trinkle23897)

Note: Compared with dm_control, EnvPool can have at about 2x free speedup with only single environment setting (139, Trinkle23897). For the next release, we are going to use mujoco source code (141, Trinkle23897) to make everything faster!

New dm_control Env

1. Humanoid (132, Benjamin-eecs)
2. Manipulator (128, yufansong, Trinkle23897)
3. Fish (134, Benjamin-eecs)
4. CartPole (137, Benjamin-eecs)
5. Swimmer (140, Benjamin-eecs)
6. Misc (138, Trinkle23897)