diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index bb471ea46..c09b2a73b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -13,6 +13,23 @@ This project adheres to `Semantic Versioning`_ starting with version 0.11.0.
 
 .. towncrier release notes start
 
+[1.10.2] - 2020-06-25
+^^^^^^^^^^^^^^^^^^^^^
+
+Bugfixes
+--------
+
+- Re-added an ``Action endpoint is up and running`` log that was removed in Rasa SDK 1.6.0. 
+
+
+[1.10.1] - 2020-05-11
+^^^^^^^^^^^^^^^^^^^^^
+
+Bugfixes
+--------
+- `#212 <https://github.com/rasahq/rasa/issues/212>`_: Fix ``ActionExecutor`` sometimes not loading user-defined actions that inherit from other user-defined ones.
+
+
 [1.10.0] - 2020-04-28
 ^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/poetry.lock b/poetry.lock
index 88495eba7..bae600f45 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -38,7 +38,7 @@ description = "A small Python module for determining appropriate platform-specif
 name = "appdirs"
 optional = false
 python-versions = "*"
-version = "1.4.3"
+version = "1.4.4"
 
 [[package]]
 category = "dev"
@@ -63,7 +63,7 @@ marker = "sys_platform == \"win32\""
 name = "atomicwrites"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.3.0"
+version = "1.4.0"
 
 [[package]]
 category = "dev"
@@ -105,7 +105,7 @@ description = "Python package for providing Mozilla's CA Bundle."
 name = "certifi"
 optional = false
 python-versions = "*"
-version = "2020.4.5.1"
+version = "2020.6.20"
 
 [[package]]
 category = "main"
@@ -121,7 +121,7 @@ description = "Composable command line interface toolkit"
 name = "click"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "7.1.1"
+version = "7.1.2"
 
 [[package]]
 category = "dev"
@@ -207,7 +207,7 @@ description = "the modular source code checker: pep8 pyflakes and co"
 name = "flake8"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
-version = "3.8.2"
+version = "3.8.3"
 
 [package.dependencies]
 mccabe = ">=0.6.0,<0.7.0"
@@ -252,7 +252,7 @@ description = "Chromium HSTS Preload list as a Python package and updated daily"
 name = "hstspreload"
 optional = false
 python-versions = ">=3.6"
-version = "2020.4.14"
+version = "2020.6.23"
 
 [[package]]
 category = "main"
@@ -328,8 +328,8 @@ description = "Immutable Collections"
 marker = "python_version < \"3.7\""
 name = "immutables"
 optional = false
-python-versions = "*"
-version = "0.11"
+python-versions = ">=3.5"
+version = "0.14"
 
 [[package]]
 category = "dev"
@@ -350,14 +350,14 @@ marker = "python_version < \"3.8\""
 name = "importlib-metadata"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
-version = "1.6.0"
+version = "1.6.1"
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
 docs = ["sphinx", "rst.linker"]
-testing = ["packaging", "importlib-resources"]
+testing = ["packaging", "pep517", "importlib-resources (>=1.3)"]
 
 [[package]]
 category = "dev"
@@ -406,7 +406,7 @@ description = "More routines for operating on iterables, beyond itertools"
 name = "more-itertools"
 optional = false
 python-versions = ">=3.5"
-version = "8.2.0"
+version = "8.4.0"
 
 [[package]]
 category = "main"
@@ -414,7 +414,7 @@ description = "multidict implementation"
 name = "multidict"
 optional = false
 python-versions = ">=3.5"
-version = "4.7.5"
+version = "4.7.6"
 
 [[package]]
 category = "dev"
@@ -446,7 +446,7 @@ description = "Ninja is a small build system with a focus on speed"
 name = "ninja"
 optional = false
 python-versions = "*"
-version = "1.9.0.post1"
+version = "1.10.0.post1"
 
 [[package]]
 category = "dev"
@@ -454,7 +454,7 @@ description = "Core utilities for Python packages"
 name = "packaging"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "20.3"
+version = "20.4"
 
 [package.dependencies]
 pyparsing = ">=2.0.2"
@@ -468,6 +468,17 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 version = "0.8.0"
 
+[[package]]
+category = "dev"
+description = "Utilities to deal with pep440 versioning"
+name = "pep440-version-utils"
+optional = false
+python-versions = ">=3.6,<4.0"
+version = "0.3.0"
+
+[package.dependencies]
+packaging = ">=20.3,<21.0"
+
 [[package]]
 category = "dev"
 description = "plugin and hook calling mechanisms for python"
@@ -501,7 +512,7 @@ description = "library with cross-python path, ini-parsing, io, code, log facili
 name = "py"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.8.1"
+version = "1.9.0"
 
 [[package]]
 category = "dev"
@@ -542,7 +553,7 @@ description = "pytest: simple powerful testing with Python"
 name = "pytest"
 optional = false
 python-versions = ">=3.5"
-version = "5.4.1"
+version = "5.4.3"
 
 [package.dependencies]
 atomicwrites = ">=1.0"
@@ -567,15 +578,15 @@ category = "dev"
 description = "Pytest plugin for measuring coverage."
 name = "pytest-cov"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.8.1"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+version = "2.10.0"
 
 [package.dependencies]
 coverage = ">=4.4"
-pytest = ">=3.6"
+pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests (2.0.2)", "six", "virtualenv"]
+testing = ["fields", "hunter", "process-tests (2.0.2)", "six", "pytest-xdist", "virtualenv"]
 
 [[package]]
 category = "dev"
@@ -634,7 +645,7 @@ description = "Alternative regular expression module, to replace re."
 name = "regex"
 optional = false
 python-versions = "*"
-version = "2020.4.4"
+version = "2020.6.8"
 
 [[package]]
 category = "main"
@@ -642,7 +653,7 @@ description = "Python HTTP for Humans."
 name = "requests"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.23.0"
+version = "2.24.0"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
@@ -725,7 +736,7 @@ description = "Python 2 and 3 compatibility utilities"
 name = "six"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "1.14.0"
+version = "1.15.0"
 
 [[package]]
 category = "main"
@@ -746,7 +757,7 @@ description = "Python Library for Tom's Obvious, Minimal Language"
 name = "toml"
 optional = false
 python-versions = "*"
-version = "0.10.0"
+version = "0.10.1"
 
 [[package]]
 category = "dev"
@@ -785,8 +796,8 @@ description = "Ultra fast JSON encoder and decoder for Python"
 marker = "sys_platform != \"win32\" and implementation_name == \"cpython\""
 name = "ujson"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.0.3"
+python-versions = ">=3.5"
+version = "3.0.0"
 
 [[package]]
 category = "main"
@@ -812,11 +823,11 @@ version = "0.14.0"
 
 [[package]]
 category = "dev"
-description = "Measures number of Terminal column cells of wide-character codes"
+description = "Measures the displayed width of unicode strings in a terminal"
 name = "wcwidth"
 optional = false
 python-versions = "*"
-version = "0.1.9"
+version = "0.2.5"
 
 [[package]]
 category = "main"
@@ -852,7 +863,7 @@ docs = ["sphinx", "jaraco.packaging (>=3.2)", "rst.linker (>=1.9)"]
 testing = ["jaraco.itertools", "func-timeout"]
 
 [metadata]
-content-hash = "3b6bc1176aab9d600ee3a706fc38deea47da274885ccbf10c36f823198ef1f15"
+content-hash = "d566b08bc79d3dc2212949ba806f541754b8810ba5da75f26d6671bd414e1920"
 python-versions = "^3.6"
 
 [metadata.files]
@@ -875,8 +886,8 @@ aiohttp = [
     {file = "aiohttp-3.6.2.tar.gz", hash = "sha256:259ab809ff0727d0e834ac5e8a283dc5e3e0ecc30c4d80b3cd17a4139ce1f326"},
 ]
 appdirs = [
-    {file = "appdirs-1.4.3-py2.py3-none-any.whl", hash = "sha256:d8b24664561d0d34ddfaec54636d502d7cea6e29c3eaf68f3df6180863e2166e"},
-    {file = "appdirs-1.4.3.tar.gz", hash = "sha256:9e5896d1372858f8dd3344faf4e5014d21849c756c8d5701f78f8a103b372d92"},
+    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
+    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
 ]
 async-generator = [
     {file = "async_generator-1.10-py3-none-any.whl", hash = "sha256:01c7bf666359b4967d2cda0000cc2e4af16a0ae098cbffcb8472fb9e8ad6585b"},
@@ -887,8 +898,8 @@ async-timeout = [
     {file = "async_timeout-3.0.1-py3-none-any.whl", hash = "sha256:4291ca197d287d274d0b6cb5d6f8f8f82d434ed288f962539ff18cc9012f9ea3"},
 ]
 atomicwrites = [
-    {file = "atomicwrites-1.3.0-py2.py3-none-any.whl", hash = "sha256:03472c30eb2c5d1ba9227e4c2ca66ab8287fbfbbda3888aa93dc2e28fc6811b4"},
-    {file = "atomicwrites-1.3.0.tar.gz", hash = "sha256:75a9445bac02d8d058d5e1fe689654ba5a6556a1dfd8ce6ec55a0ed79866cfa6"},
+    {file = "atomicwrites-1.4.0-py2.py3-none-any.whl", hash = "sha256:6d1784dea7c0c8d4a5172b6c620f40b6e4cbfdf96d783691f2e1302a7b88e197"},
+    {file = "atomicwrites-1.4.0.tar.gz", hash = "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a"},
 ]
 attrs = [
     {file = "attrs-19.3.0-py2.py3-none-any.whl", hash = "sha256:08a96c641c3a74e44eb59afb61a24f2cb9f4d7188748e76ba4bb5edfa3cb7d1c"},
@@ -899,16 +910,16 @@ black = [
     {file = "black-19.10b0.tar.gz", hash = "sha256:c2edb73a08e9e0e6f65a0e6af18b059b8b1cdd5bef997d7a0b181df93dc81539"},
 ]
 certifi = [
-    {file = "certifi-2020.4.5.1-py2.py3-none-any.whl", hash = "sha256:1d987a998c75633c40847cc966fcf5904906c920a7f17ef374f5aa4282abd304"},
-    {file = "certifi-2020.4.5.1.tar.gz", hash = "sha256:51fcb31174be6e6664c5f69e3e1691a2d72a1a12e90f872cbdb1567eb47b6519"},
+    {file = "certifi-2020.6.20-py2.py3-none-any.whl", hash = "sha256:8fc0819f1f30ba15bdb34cceffb9ef04d99f420f68eb75d901e9560b8749fc41"},
+    {file = "certifi-2020.6.20.tar.gz", hash = "sha256:5930595817496dd21bb8dc35dad090f1c2cd0adfaf21204bf6732ca5d8ee34d3"},
 ]
 chardet = [
     {file = "chardet-3.0.4-py2.py3-none-any.whl", hash = "sha256:fc323ffcaeaed0e0a02bf4d117757b98aed530d9ed4531e3e15460124c106691"},
     {file = "chardet-3.0.4.tar.gz", hash = "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae"},
 ]
 click = [
-    {file = "click-7.1.1-py2.py3-none-any.whl", hash = "sha256:e345d143d80bf5ee7534056164e5e112ea5e22716bbb1ce727941f4c8b471b9a"},
-    {file = "click-7.1.1.tar.gz", hash = "sha256:8a18b4ea89d8820c5d0c7da8a64b2c324b4dabb695804dbfea19b9be9d88c0cc"},
+    {file = "click-7.1.2-py2.py3-none-any.whl", hash = "sha256:dacca89f4bfadd5de3d7489b7c8a566eee0d3676333fbb50030263894c38c0dc"},
+    {file = "click-7.1.2.tar.gz", hash = "sha256:d2b5255c7c6349bc1bd1e59e08cd12acbbd63ce649f2588755783aa94dfb6b1a"},
 ]
 colorama = [
     {file = "colorama-0.4.3-py2.py3-none-any.whl", hash = "sha256:7d73d2a99753107a36ac6b455ee49046802e59d9d076ef8e47b61499fa29afff"},
@@ -966,8 +977,8 @@ docopt = [
     {file = "docopt-0.6.2.tar.gz", hash = "sha256:49b3a825280bd66b3aa83585ef59c4a8c82f2c8a522dbe754a8bc8d08c85c491"},
 ]
 flake8 = [
-    {file = "flake8-3.8.2-py2.py3-none-any.whl", hash = "sha256:ccaa799ef9893cebe69fdfefed76865aeaefbb94cb8545617b2298786a4de9a5"},
-    {file = "flake8-3.8.2.tar.gz", hash = "sha256:c69ac1668e434d37a2d2880b3ca9aafd54b3a10a3ac1ab101d22f29e29cf8634"},
+    {file = "flake8-3.8.3-py2.py3-none-any.whl", hash = "sha256:15e351d19611c887e482fb960eae4d44845013cc142d42896e9862f775d8cf5c"},
+    {file = "flake8-3.8.3.tar.gz", hash = "sha256:f04b9fcbac03b0a3e58c0ab3a0ecc462e023a9faf046d57794184028123aa208"},
 ]
 h11 = [
     {file = "h11-0.8.1-py2.py3-none-any.whl", hash = "sha256:f2b1ca39bfed357d1f19ac732913d5f9faa54a5062eca7d2ec3a916cfb7ae4c7"},
@@ -982,8 +993,8 @@ hpack = [
     {file = "hpack-3.0.0.tar.gz", hash = "sha256:8eec9c1f4bfae3408a3f30500261f7e6a65912dc138526ea054f9ad98892e9d2"},
 ]
 hstspreload = [
-    {file = "hstspreload-2020.4.14-py3-none-any.whl", hash = "sha256:ca0af58f803598a737d5f325212e488b24de1ac9f0cf6fa12da1a3f4651914e6"},
-    {file = "hstspreload-2020.4.14.tar.gz", hash = "sha256:acbf4d6fd362b363ce567db56a8667c4f0e43073001add9c4e43f449c11e1d81"},
+    {file = "hstspreload-2020.6.23-py3-none-any.whl", hash = "sha256:8eb6a839c39d0995bfac3213dc08de780bb3d4d4386d9958ea29d86f20fd3659"},
+    {file = "hstspreload-2020.6.23.tar.gz", hash = "sha256:4c55cb73ebe3549277a4e5e5a95867350cd3888ebe09d41f61a42718e4a3909e"},
 ]
 httptools = [
     {file = "httptools-0.1.1-cp35-cp35m-macosx_10_13_x86_64.whl", hash = "sha256:a2719e1d7a84bb131c4f1e0cb79705034b48de6ae486eb5297a139d6a3296dce"},
@@ -1019,29 +1030,25 @@ idna-ssl = [
     {file = "idna-ssl-1.1.0.tar.gz", hash = "sha256:a933e3bb13da54383f9e8f35dc4f9cb9eb9b3b78c6b36f311254d6d0d92c6c7c"},
 ]
 immutables = [
-    {file = "immutables-0.11-cp35-cp35m-macosx_10_13_x86_64.whl", hash = "sha256:bce27277a2fe91509cca69181971ab509c2ee862e8b37b09f26b64f90e8fe8fb"},
-    {file = "immutables-0.11-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:c7eb2d15c35c73bb168c002c6ea145b65f40131e10dede54b39db0b72849b280"},
-    {file = "immutables-0.11-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:2de2ec8dde1ca154f811776a8cbbeaea515c3b226c26036eab6484530eea28e0"},
-    {file = "immutables-0.11-cp35-cp35m-win32.whl", hash = "sha256:e87bd941cb4dfa35f16e1ff4b2d99a2931452dcc9cfd788dc8fe513f3d38551e"},
-    {file = "immutables-0.11-cp35-cp35m-win_amd64.whl", hash = "sha256:0aa055c745510238cbad2f1f709a37a1c9e30a38594de3b385e9876c48a25633"},
-    {file = "immutables-0.11-cp36-cp36m-macosx_10_13_x86_64.whl", hash = "sha256:422c7d4c75c88057c625e32992248329507bca180b48cfb702b4ef608f581b50"},
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-    {file = "immutables-0.11-cp36-cp36m-win32.whl", hash = "sha256:0f07c58122e1ce70a7165e68e18e795ac5fe94d7fee3e045ffcf6432602026df"},
-    {file = "immutables-0.11-cp36-cp36m-win_amd64.whl", hash = "sha256:b8fed714f1c84a3242c7184838f5e9889139a22bbdd701a182b7fdc237ca3cbb"},
-    {file = "immutables-0.11-cp37-cp37m-macosx_10_13_x86_64.whl", hash = "sha256:518f20945c1f600b618fb691922c2ab43b193f04dd2d4d2823220d0202014670"},
-    {file = "immutables-0.11-cp37-cp37m-manylinux1_i686.whl", hash = "sha256:2c536ff2bafeeff9a7865ea10a17a50f90b80b585e31396c349e8f57b0075bd4"},
-    {file = "immutables-0.11-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:1c2e729aab250be0de0c13fa833241a778b51390ee2650e0457d1e45b318c441"},
-    {file = "immutables-0.11-cp37-cp37m-win32.whl", hash = "sha256:545186faab9237c102b8bcffd36d71f0b382174c93c501e061de239753cff694"},
-    {file = "immutables-0.11-cp37-cp37m-win_amd64.whl", hash = "sha256:6b6d8d035e5888baad3db61dfb167476838a63afccecd927c365f228bb55754c"},
-    {file = "immutables-0.11.tar.gz", hash = "sha256:d6850578a0dc6530ac19113cfe4ddc13903df635212d498f176fe601a8a5a4a3"},
+    {file = "immutables-0.14-cp35-cp35m-macosx_10_14_x86_64.whl", hash = "sha256:860666fab142401a5535bf65cbd607b46bc5ed25b9d1eb053ca8ed9a1a1a80d6"},
+    {file = "immutables-0.14-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:ce01788878827c3f0331c254a4ad8d9721489a5e65cc43e19c80040b46e0d297"},
+    {file = "immutables-0.14-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:8797eed4042f4626b0bc04d9cf134208918eb0c937a8193a2c66df5041e62d2e"},
+    {file = "immutables-0.14-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:33ce2f977da7b5e0dddd93744862404bdb316ffe5853ec853e53141508fa2e6a"},
+    {file = "immutables-0.14-cp36-cp36m-win_amd64.whl", hash = "sha256:6c8eace4d98988c72bcb37c05e79aae756832738305ae9497670482a82db08bc"},
+    {file = "immutables-0.14-cp37-cp37m-macosx_10_14_x86_64.whl", hash = "sha256:ab6c18b7b2b2abc83e0edc57b0a38bf0915b271582a1eb8c7bed1c20398f8040"},
+    {file = "immutables-0.14-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:c099212fd6504513a50e7369fe281007c820cf9d7bb22a336486c63d77d6f0b2"},
+    {file = "immutables-0.14-cp37-cp37m-win_amd64.whl", hash = "sha256:714aedbdeba4439d91cb5e5735cb10631fc47a7a69ea9cc8ecbac90322d50a4a"},
+    {file = "immutables-0.14-cp38-cp38-macosx_10_14_x86_64.whl", hash = "sha256:1c11050c49e193a1ec9dda1747285333f6ba6a30bbeb2929000b9b1192097ec0"},
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 ]
 requests = [
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-    {file = "requests-2.23.0.tar.gz", hash = "sha256:b3f43d496c6daba4493e7c431722aeb7dbc6288f52a6e04e7b6023b0247817e6"},
+    {file = "requests-2.24.0-py2.py3-none-any.whl", hash = "sha256:fe75cc94a9443b9246fc7049224f75604b113c36acb93f87b80ed42c44cbb898"},
+    {file = "requests-2.24.0.tar.gz", hash = "sha256:b3559a131db72c33ee969480840fff4bb6dd111de7dd27c8ee1f820f4f00231b"},
 ]
 rfc3986 = [
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@@ -1247,17 +1258,16 @@ semantic-version = [
     {file = "semantic_version-2.8.5.tar.gz", hash = "sha256:d2cb2de0558762934679b9a104e82eca7af448c9f4974d1f3eeccff651df8a54"},
 ]
 six = [
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-    {file = "six-1.14.0.tar.gz", hash = "sha256:236bdbdce46e6e6a3d61a337c0f8b763ca1e8717c03b369e87a7ec7ce1319c0a"},
+    {file = "six-1.15.0-py2.py3-none-any.whl", hash = "sha256:8b74bedcbbbaca38ff6d7491d76f2b06b3592611af620f8426e82dddb04a5ced"},
+    {file = "six-1.15.0.tar.gz", hash = "sha256:30639c035cdb23534cd4aa2dd52c3bf48f06e5f4a941509c8bafd8ce11080259"},
 ]
 sniffio = [
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     {file = "sniffio-1.1.0.tar.gz", hash = "sha256:8e3810100f69fe0edd463d02ad407112542a11ffdc29f67db2bf3771afb87a21"},
 ]
 toml = [
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-    {file = "toml-0.10.0-py2.py3-none-any.whl", hash = "sha256:235682dd292d5899d361a811df37e04a8828a5b1da3115886b73cf81ebc9100e"},
-    {file = "toml-0.10.0.tar.gz", hash = "sha256:229f81c57791a41d65e399fc06bf0848bab550a9dfd5ed66df18ce5f05e73d5c"},
+    {file = "toml-0.10.1-py2.py3-none-any.whl", hash = "sha256:bda89d5935c2eac546d648028b9901107a595863cb36bae0c73ac804a9b4ce88"},
+    {file = "toml-0.10.1.tar.gz", hash = "sha256:926b612be1e5ce0634a2ca03470f95169cf16f939018233a670519cb4ac58b0f"},
 ]
 towncrier = [
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@@ -1292,13 +1302,23 @@ typing-extensions = [
     {file = "typing_extensions-3.7.4.2.tar.gz", hash = "sha256:79ee589a3caca649a9bfd2a8de4709837400dfa00b6cc81962a1e6a1815969ae"},
 ]
 ujson = [
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-    {file = "ujson-2.0.3-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:6217c63a36e9b26e9271e686d212397ce7fb04c07d85509dd4e2ed73493320f8"},
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-    {file = "ujson-2.0.3-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:0c23f21e8d2b60efab57bc6ce9d1fb7c4e96f4bfefbf5a6043a3f3309e2a738a"},
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-    {file = "ujson-2.0.3.tar.gz", hash = "sha256:bd2deffc983827510e5145fb66e4cc0f577480c62fe0b4882139f8f7d27ae9a3"},
+    {file = "ujson-3.0.0-cp35-cp35m-macosx_10_14_x86_64.whl", hash = "sha256:0959a5b569e192459b492b007e3fd63d8f4b4bcb4f69dcddca850a9b9dfe3e7a"},
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+    {file = "ujson-3.0.0-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:019a17e7162f26e264f1645bb41630f7103d178c092ea4bb8f3b16126c3ea210"},
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+    {file = "ujson-3.0.0-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:634c206f4fb3be7e4523768c636d2dd41cb9c7130e2d219ef8305b8fb6f4838e"},
+    {file = "ujson-3.0.0-cp36-cp36m-manylinux1_i686.whl", hash = "sha256:3bd791d17a175c1c6566aeaec1755b58e3f021fe9bb62f10f02b656b299199f5"},
+    {file = "ujson-3.0.0-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:0379ffc7484b862a292e924c15ad5f1c5306d4271e2efd162144812afb08ff97"},
+    {file = "ujson-3.0.0-cp36-cp36m-win_amd64.whl", hash = "sha256:f40bb0d0cb534aad3e24884cf864bda7a71eb5984bd1da61d1711bbfb3be2c38"},
+    {file = "ujson-3.0.0-cp37-cp37m-macosx_10_14_x86_64.whl", hash = "sha256:0f33359908df32033195bfdd59ba2bfb90a23cb280ef9a0ba11e5013a53d7fd9"},
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+    {file = "ujson-3.0.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:f854702a9aff3a445f4a0b715d240f2a3d84014d8ae8aad05a982c7ffab12525"},
+    {file = "ujson-3.0.0-cp37-cp37m-win_amd64.whl", hash = "sha256:c04d253fec814657fd9f150ef2333dbd0bc6f46208355aa753a29e0696b7fa7e"},
+    {file = "ujson-3.0.0-cp38-cp38-macosx_10_14_x86_64.whl", hash = "sha256:a32f2def62b10e8a19084d17d40363c4da1ac5f52d300a9e99d7efb49fe5f34a"},
+    {file = "ujson-3.0.0-cp38-cp38-manylinux1_i686.whl", hash = "sha256:9c68557da3e3ad57e0105aceba0cce5f8f7cd07d207c3860e59c0b3044532830"},
+    {file = "ujson-3.0.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:0e2352b60c4ac4fc75b723435faf36ef5e7f3bfb988adb4d589b5e0e6e1d90aa"},
+    {file = "ujson-3.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:c841a6450d64c24c64cbcca429bab22cdb6daef5eaddfdfebe798a5e9e5aff4c"},
+    {file = "ujson-3.0.0.tar.gz", hash = "sha256:e0199849d61cc6418f94d52a314c6a27524d65e82174d2a043fb718f73d1520d"},
 ]
 urllib3 = [
     {file = "urllib3-1.25.9-py2.py3-none-any.whl", hash = "sha256:88206b0eb87e6d677d424843ac5209e3fb9d0190d0ee169599165ec25e9d9115"},
@@ -1316,8 +1336,8 @@ uvloop = [
     {file = "uvloop-0.14.0.tar.gz", hash = "sha256:123ac9c0c7dd71464f58f1b4ee0bbd81285d96cdda8bc3519281b8973e3a461e"},
 ]
 wcwidth = [
-    {file = "wcwidth-0.1.9-py2.py3-none-any.whl", hash = "sha256:cafe2186b3c009a04067022ce1dcd79cb38d8d65ee4f4791b8888d6599d1bbe1"},
-    {file = "wcwidth-0.1.9.tar.gz", hash = "sha256:ee73862862a156bf77ff92b09034fc4825dd3af9cf81bc5b360668d425f3c5f1"},
+    {file = "wcwidth-0.2.5-py2.py3-none-any.whl", hash = "sha256:beb4802a9cebb9144e99086eff703a642a13d6a0052920003a230f3294bbe784"},
+    {file = "wcwidth-0.2.5.tar.gz", hash = "sha256:c4d647b99872929fdb7bdcaa4fbe7f01413ed3d98077df798530e5b04f116c83"},
 ]
 websockets = [
     {file = "websockets-8.0.2-cp36-cp36m-macosx_10_6_intel.whl", hash = "sha256:e906128532a14b9d264a43eb48f9b3080d53a9bda819ab45bf56b8039dc606ac"},
diff --git a/pyproject.toml b/pyproject.toml
index e6877ca01..84e8959e6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -78,4 +78,5 @@ pytest-sanic = "^1.6.1"
 questionary = "^1.5.2"
 towncrier = "^19.2.0"
 toml = "^0.10.0"
+pep440-version-utils = "^0.3.0"
 semantic_version = "^2.8.5"
diff --git a/rasa_sdk/endpoint.py b/rasa_sdk/endpoint.py
index 2c69b9a5b..fc5ce56ba 100644
--- a/rasa_sdk/endpoint.py
+++ b/rasa_sdk/endpoint.py
@@ -137,7 +137,9 @@ def run(
         action_package_name, cors_origins=cors_origins, auto_reload=auto_reload
     )
     ssl_context = create_ssl_context(ssl_certificate, ssl_keyfile, ssl_password)
+    protocol = "https" if ssl_context else "http"
 
+    logger.info(f"Action endpoint is up and running on {protocol}://localhost:{port}")
     app.run("0.0.0.0", port, ssl=ssl_context, workers=utils.number_of_sanic_workers())
 
 
diff --git a/rasa_sdk/executor.py b/rasa_sdk/executor.py
index 31bfd24a1..151656138 100644
--- a/rasa_sdk/executor.py
+++ b/rasa_sdk/executor.py
@@ -3,7 +3,7 @@
 import logging
 import pkgutil
 import warnings
-from typing import Text, List, Dict, Any, Type, Union, Callable, Optional
+from typing import Text, List, Dict, Any, Type, Union, Callable, Optional, Set
 from collections import namedtuple
 import types
 import sys
@@ -145,9 +145,10 @@ def utter_image_url(self, image: Text, **kwargs: Any) -> None:
 
 
 class ActionExecutor:
-    def __init__(self):
+    def __init__(self) -> None:
         self.actions = {}
         self._modules: Dict[Text, TimestampModule] = {}
+        self._loaded: Set[Type] = set()
 
     def register_action(self, action: Union[Type["Action"], "Action"]) -> None:
         if inspect.isclass(action):
@@ -155,15 +156,12 @@ def register_action(self, action: Union[Type["Action"], "Action"]) -> None:
                 logger.warning(f"Skipping built in Action {action}.")
                 return
             else:
-                if getattr(action, "_sdk_loaded", False):
-                    # This Action subclass has already been loaded in the past;
-                    # do not try to load it again as either 1) it is already
-                    # loaded or 2) it has been replaced by a newer version
-                    # already.
+                # Check if this class has already been loaded in the past.
+                if action in self._loaded:
                     return
 
                 # Mark the class as "loaded"
-                action._sdk_loaded = True
+                self._loaded.add(action)
                 action = action()
 
         if isinstance(action, Action):
diff --git a/scripts/release.py b/scripts/release.py
index 915b6128f..4848e27e6 100644
--- a/scripts/release.py
+++ b/scripts/release.py
@@ -6,14 +6,15 @@
 """
 import argparse
 import os
+import re
 import sys
 from pathlib import Path
 from subprocess import CalledProcessError, check_call, check_output
 from typing import Text, Set
 
 import questionary
-import semantic_version
-from semantic_version import Version
+from pep440_version_utils import Version, is_valid_version
+
 
 VERSION_FILE_PATH = "rasa_sdk/version.py"
 
@@ -23,6 +24,10 @@
 
 RELEASE_BRANCH_PREFIX = "prepare-release-"
 
+PRERELEASE_FLAVORS = ("alpha", "rc")
+
+RELEASE_BRANCH_PATTERN = re.compile(r"^\d+\.\d+\.x$")
+
 
 def create_argument_parser() -> argparse.ArgumentParser:
     """Parse all the command line arguments for the release script."""
@@ -31,7 +36,7 @@ def create_argument_parser() -> argparse.ArgumentParser:
     parser.add_argument(
         "--next_version",
         type=str,
-        help="Either next version number or 'major', 'minor', 'patch'",
+        help="Either next version number or 'major', 'minor', 'micro', 'alpha', 'rc'",
     )
 
     return parser
@@ -52,7 +57,7 @@ def pyproject_file_path() -> Path:
     return project_root() / PYPROJECT_FILE_PATH
 
 
-def write_version_file(version: Text) -> None:
+def write_version_file(version: Version) -> None:
     """Dump a new version into the python version file."""
 
     with version_file_path().open("w") as f:
@@ -64,7 +69,7 @@ def write_version_file(version: Text) -> None:
     check_call(["git", "add", str(version_file_path().absolute())])
 
 
-def write_version_to_pyproject(version: Text) -> None:
+def write_version_to_pyproject(version: Version) -> None:
     """Dump a new version into the pyproject.toml."""
 
     import toml
@@ -73,7 +78,7 @@ def write_version_to_pyproject(version: Text) -> None:
 
     try:
         data = toml.load(pyproject_file)
-        data["tool"]["poetry"]["version"] = version
+        data["tool"]["poetry"]["version"] = str(version)
         with pyproject_file.open("w") as f:
             toml.dump(data, f)
     except (FileNotFoundError, TypeError):
@@ -104,10 +109,10 @@ def get_current_version() -> Text:
     return _globals["__version__"]
 
 
-def confirm_version(version: Text) -> bool:
+def confirm_version(version: Version) -> bool:
     """Allow the user to confirm the version number."""
 
-    if version in git_existing_tags():
+    if str(version) in git_existing_tags():
         confirmed = questionary.confirm(
             f"Tag with version '{version}' already exists, overwrite?", default=False
         ).ask()
@@ -128,19 +133,37 @@ def ask_version() -> Text:
     """Allow the user to confirm the version number."""
 
     def is_valid_version_number(v: Text) -> bool:
-        # noinspection PyBroadException
-        try:
-            return v in {"major", "minor", "patch"} or Version.coerce(v) is not None
-        except Exception:
-            # "coerce" did fail, this is probably not a valid version number
-            return False
+        return v in {"major", "minor", "micro", "alpha", "rc"} or is_valid_version(v)
 
+    current_version = Version(get_current_version())
+    next_micro_version = str(current_version.next_micro())
+    next_alpha_version = str(current_version.next_alpha())
     version = questionary.text(
-        "What is the version number you want to release "
-        "('major', 'minor', 'patch' or valid version number]?",
+        f"What is the version number you want to release "
+        f"('major', 'minor', 'micro', 'alpha', 'rc' or valid version number "
+        f"e.g. '{next_micro_version}' or '{next_alpha_version}')?",
         validate=is_valid_version_number,
     ).ask()
 
+    if version in PRERELEASE_FLAVORS and not current_version.pre:
+        # at this stage it's hard to guess the kind of version bump the
+        # releaser wants, so we ask them
+        if version == "alpha":
+            choices = [
+                str(current_version.next_alpha("minor")),
+                str(current_version.next_alpha("micro")),
+                str(current_version.next_alpha("major")),
+            ]
+        else:
+            choices = [
+                str(current_version.next_release_candidate("minor")),
+                str(current_version.next_release_candidate("micro")),
+                str(current_version.next_release_candidate("major")),
+            ]
+        version = questionary.select(
+            f"Which {version} do you want to release?", choices=choices,
+        ).ask()
+
     if version:
         return version
     else:
@@ -166,7 +189,19 @@ def git_current_branch() -> Text:
         return "master"
 
 
-def create_release_branch(version: Text) -> Text:
+def git_current_branch_is_master_or_release() -> bool:
+    """
+    Returns True if the current local git
+    branch is master or a release branch e.g. 1.10.x
+    """
+    current_branch = git_current_branch()
+    return (
+        current_branch == "master"
+        or RELEASE_BRANCH_PATTERN.match(current_branch) is not None
+    )
+
+
+def create_release_branch(version: Version) -> Text:
     """Create a new branch for this release. Returns the branch name."""
 
     branch = f"{RELEASE_BRANCH_PREFIX}{version}"
@@ -174,7 +209,7 @@ def create_release_branch(version: Text) -> Text:
     return branch
 
 
-def create_commit(version: Text) -> None:
+def create_commit(version: Version) -> None:
     """Creates a git commit with all stashed changes."""
     check_call(["git", "commit", "-m", f"prepared release of version {version}"])
 
@@ -194,31 +229,37 @@ def ensure_clean_git() -> None:
         sys.exit(1)
 
 
-def parse_next_version(version: Text) -> Text:
+def parse_next_version(version: Text) -> Version:
     """Find the next version as a proper semantic version string."""
     if version == "major":
-        return str(Version.coerce(get_current_version()).next_major())
+        return Version(get_current_version()).next_major()
     elif version == "minor":
-        return str(Version.coerce(get_current_version()).next_minor())
-    elif version == "patch":
-        return str(Version.coerce(get_current_version()).next_patch())
-    elif semantic_version.validate(version):
-        return version
+        return Version(get_current_version()).next_minor()
+    elif version == "micro":
+        return Version(get_current_version()).next_micro()
+    elif version == "alpha":
+        return Version(get_current_version()).next_alpha()
+    elif version == "rc":
+        return Version(get_current_version()).next_release_candidate()
+    elif is_valid_version(version):
+        return Version(version)
     else:
         raise Exception(f"Invalid version number '{cmdline_args.next_version}'.")
 
 
-def next_version(args: argparse.Namespace) -> Text:
+def next_version(args: argparse.Namespace) -> Version:
     """Take cmdline args or ask the user for the next version and return semver."""
     return parse_next_version(args.next_version or ask_version())
 
 
-def generate_changelog(version: Text) -> None:
+def generate_changelog(version: Version) -> None:
     """Call towncrier and create a changelog from all available changelog entries."""
-    check_call(["towncrier", "--yes", "--version", version], cwd=str(project_root()))
+    check_call(
+        ["towncrier", "--yes", "--version", str(version)], cwd=str(project_root())
+    )
 
 
-def print_done_message(branch: Text, base: Text, version: Text) -> None:
+def print_done_message(branch: Text, base: Text, version: Version) -> None:
     """Print final information for the user on what to do next."""
 
     pull_request_url = f"{REPO_BASE_URL}/compare/{base}...{branch}?expand=1"
@@ -229,6 +270,18 @@ def print_done_message(branch: Text, base: Text, version: Text) -> None:
     print(f"Please open a PR on GitHub: {pull_request_url}")
 
 
+def print_done_message_same_branch(version: Version) -> None:
+    """
+    Print final information for the user in case changes
+    are directly committed on this branch.
+    """
+
+    print()
+    print(
+        f"\033[94m All done - changes for version {version} where committed on this branch \033[0m"
+    )
+
+
 def main(args: argparse.Namespace) -> None:
     """Start a release preparation."""
 
@@ -244,14 +297,24 @@ def main(args: argparse.Namespace) -> None:
     write_version_file(version)
     write_version_to_pyproject(version)
 
-    generate_changelog(version)
-    base = git_current_branch()
-    branch = create_release_branch(version)
+    if not version.pre:
+        # never update changelog on a prerelease version
+        generate_changelog(version)
+
+    # alpha workflow on feature branch when a version bump is required
+    if version.is_alpha and not git_current_branch_is_master_or_release():
+        create_commit(version)
+        push_changes()
+
+        print_done_message_same_branch(version)
+    else:
+        base = git_current_branch()
+        branch = create_release_branch(version)
 
-    create_commit(version)
-    push_changes()
+        create_commit(version)
+        push_changes()
 
-    print_done_message(branch, base, version)
+        print_done_message(branch, base, version)
 
 
 if __name__ == "__main__":
diff --git a/tests/test_executor.py b/tests/test_executor.py
index a374960ad..d9ab435d0 100644
--- a/tests/test_executor.py
+++ b/tests/test_executor.py
@@ -3,6 +3,8 @@
 import random
 import string
 import time
+
+from rasa_sdk import Action
 from typing import Text, Optional, Generator
 
 import pytest
@@ -197,3 +199,24 @@ async def test_reload_module(
         "image": None,
         "attachment": None,
     }
+
+
+class SubclassTestActionA(Action):
+    def name(self):
+        return "subclass_test_action_a"
+
+
+class SubclassTestActionB(SubclassTestActionA):
+    def name(self):
+        return "subclass_test_action_b"
+
+
+def test_load_subclasses(executor: ActionExecutor):
+    executor.register_action(SubclassTestActionB)
+    assert list(executor.actions) == ["subclass_test_action_b"]
+
+    executor.register_action(SubclassTestActionA)
+    assert sorted(list(executor.actions)) == [
+        "subclass_test_action_a",
+        "subclass_test_action_b",
+    ]