diff --git a/CMakeLists.txt b/CMakeLists.txt
index e412c18c54..eb4c7a0073 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
 set (OPENRAVE_VERSION_MINOR 168)
-set (OPENRAVE_VERSION_PATCH 3)
+set (OPENRAVE_VERSION_PATCH 4)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index a81fab278d..c2a1ea7c69 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -3,6 +3,11 @@
 ChangeLog
 #########
 
+Version 0.168.4
+===============
+
+- Add support for serialization and deserialization of std::vector<bool> for openravejson.
+
 Version 0.168.3
 ===============
 
diff --git a/include/openrave/openravejson.h b/include/openrave/openravejson.h
index 637a6b869f..dfe40391c1 100644
--- a/include/openrave/openravejson.h
+++ b/include/openrave/openravejson.h
@@ -348,6 +348,20 @@ inline void LoadJsonValue(const rapidjson::Value& v, bool& t) {
     }
 }
 
+inline void LoadJsonValue(const rapidjson::Value& v, std::vector<bool>::reference t)
+{
+    if (v.IsInt())
+        t = v.GetInt();
+    else if (v.IsBool())
+        t = v.GetBool();
+    else if (v.IsString()) {
+        t = boost::lexical_cast<bool>(v.GetString());
+    }
+    else {
+        throw OPENRAVE_EXCEPTION_FORMAT("Cannot convert JSON type %s to Bool", GetJsonString(v), OpenRAVE::ORE_InvalidArguments);
+    }
+}
+
 template<class T>
 inline void LoadJsonValue(const rapidjson::Value& v, OpenRAVE::RaveVector<T>& t) {
     if(!v.IsArray() || (v.Size() != 3 && v.Size() != 4)) {
@@ -683,6 +697,11 @@ inline void SaveJsonValue(rapidjson::Value& v, bool t, rapidjson::Document::Allo
     v.SetBool(t);
 }
 
+inline void SaveJsonValue(rapidjson::Value& v, const std::vector<bool>::reference t, rapidjson::Document::AllocatorType& alloc)
+{
+    v.SetBool(t);
+}
+
 inline void SaveJsonValue(rapidjson::Value& v, double t, rapidjson::Document::AllocatorType& alloc) {
     v.SetDouble(t);
 }