0.9.0-beta

Summary of changes

This release brings a considerable refactoring effort to the RAI's agent system. RAI architecture now consists of two separate agents:

• HMI agent (for communication, both voice and text)
• RAI agent (for solving tasks/missions)
  The default workflow now is to add a task to the RAI agent via HMI such as text_hmi (streamlit app). The RAI Agent will pick up the task, report feedback on every iteration and return task's report at the very end (success or no).

We have also added a new, refactored version of the voice interface with much better voice detection system. Our ASR now supports (possibly) any recording device (no matter the sampling rate), as well as wake word using OpenWakeWord.

Additionally, other enhancements were introduced:

• RAI What I See (Node for intelligent image capture, based on heuristics (did anything change since the last time?))
• Extended tests
• CI license checking
• NoMaD transformer based navigation system
• Overall docs improvement
• Global configuration file (config.toml) where one can set the default model that will be used across RAI's modules
• Local ASR (Whisper)
• CI has been extended to ROS 2 Humble
• Pydantic V2 compatibility with latest Langchain version

What's Changed

• fix: check status badge by @rachwalk in #173
• hri streaming and led strip publishing by @wsiekierska in #102
• chore: remove use-case specific code by @maciejmajek in #174
• remove build badge until jenkins is setup by @rachwalk in #179
• Implementing license header checking in CI by @john-science in #184
• Update poetry dependencies by @github-actions in #185
• tests: extended coverage by @maciejmajek in #190
• chore(licensechecker.yaml): check license on pr only by @maciejmajek in #193
• ci: add support for running tests on ROS Humble and Jazzy by @maciejmajek in #192
• chore: move rai_grounding_dino to rai_extensions by @maciejmajek in #195
• docs: RAI diagram by @adamdbrw in #197
• feat(rai_cli): improved UX by @maciejmajek in #189
• fix: demo repo dir name by @pijaro in #199
• docs improvements by @adamdbrw in #200
• docs: What is rai by @adamdbrw in #198
• docs: describe development environment setup by @boczekbartek in #201
• chore: remove corrupted file by @maciejmajek in #206
• refactor (human-robot-interface): various enhancements by @maciejmajek in #180
• feat: support multiple shells in the setup script by @rachwalk in #216
• docs(README.md): fix setup section & add informations about global configuration file by @maciejmajek in #210
• Update poetry dependencies by @github-actions in #211
• Refactor of Rosbot XL demo documantation by @wsiekierska in #217
• fix: remove web uri image preprocess test by @maciejmajek in #220
• chore: update tts_clients.py by @eltociear in #221
• chore: fix typos by @maciejmajek in #223
• feat: Add NoMaD extension by @knicked in #218
• refactor: HMI Node by @maciejmajek in #143
• chore: update models' config by @maciejmajek in #226
• docs: update on openVLA by @MagdalenaKotynia in #229
• docs(voice_interface.md): fix typo in docker run command for OpenTTS by @maciejmajek in #222
• chore: Update poetry dependencies (pydantic v2) by @github-actions in #228
• First version of whatisee node by @adamdbrw in #219

New Contributors

Thank you for your contributions!

• @john-science made their first contribution in #184
• @eltociear made their first contribution in #221
• @knicked made their first contribution in #218

Full Changelog: 0.8.1-beta...0.9.0-beta