# v1.0.x

Covers all v1.0 patch releases including initial launch and bug fixes.

### [v1.0.1](https://github.com/OpenMind/OM1/releases/tag/v1.0.1) - latest

* Unified single and multi modes
* Improved mode switching stability

### [v1.0.0](https://github.com/OpenMind/OM1/releases/tag/v1.0.0)

#### What's included

This release significantly expands OM1’s autonomy, simulation, and deployment capabilities. Key highlights include full Gazebo simulation support, full autonomy for Unitree G1, over-the-air (OTA) updates, improved localization accuracy, and major runtime and ML stack upgrades. Developer experience has been enhanced through hot reload, configuration versioning, and expanded documentation.

#### Development Section

A new **Development** section has been added to the documentation to help developers quickly get started with:

* Environment setup
* Building the runtime
* Running and testing OM1 locally

This reduces onboarding time and standardizes development workflows.

#### Hot Reload

Hot reload support has been added to accelerate development cycles:

* Resolved dependencies are reused after the first run
* Runtime configuration is persisted in `.runtime.json5`
* Enables seamless restarts and agent switching without full reinitialization

#### Pydantic-Based Configuration

Refactored the action connector architecture to improve type safety, extensibility, and maintainability by introducing Pydantic-based configurations and stronger generic typing. Added connector-specific config models and enhanced documentation with detailed docstrings for improved clarity and validation.

#### Simulation & Testing

#### Gazebo Simulation Support

OM1 now provides full **Gazebo** simulation support for **Unitree Go2**, including:

* SLAM
* Navigation
* Auto charging

This allows users to test OM1 without physical hardware, enabling faster iteration and safer experimentation.

#### Autonomy & Navigation

#### Unitree G1 – Full Autonomy Support

OM1 now supports full autonomy for **Unitree G1**, including:

* Facial detection and anonymisation
* 3D SLAM map generation
* Autonomous navigation

#### Context-Aware Mode Transitions

OM1 now supports **context-aware mode transitions**, enabling autonomous switching between modes without human intervention.

#### LiDAR Localization Improvements

Localization accuracy has been improved through enhanced **LiDAR-based localization**.

#### AI & Machine Learning

#### Local LLM Support on Thor

Added support for **local large language models (LLMs)** on **Thor**, featuring:

* OM1 now supports Qwen3-30B local LLM
* 3.2-second response timeout
* Arbitration between cloud and local responses
* Local LLM determines the final response when both are available

#### ML Stack Migration

The machine learning stack has been migrated to **Thor (Jetson 7.0)**:

* **AGX remains supported**, but with limited capabilities

#### Deployment & Operations

#### Over-the-Air (OTA) Updates

Introduced full support for over-the-air updates, enabling users to seamlessly upgrade to the latest runtime versions. Configurations now allow smooth version management and automated deployment of updates.

#### Configuration Version Management

Configuration files now include a mandatory **`version`** field to ensure compatibility as the runtime evolves.

#### Runtime Version Upgrade

The runtime has been upgraded to the latest version, improving:

* Performance
* Stability
* Maintainability

#### Known Issues

Avoid running the OM1 container when exploring full autonomy on Unitree Go2. Run via `uv run src/run.py unitree_go2_autonomy_advance`.