Is direct upgrade from Yoga to Antelope supported?

Hi, We are in the process of upgrading our Yoga cloud to Antelope and I was wondering if, Antelope being a SLURP release, it was supported to do it in 1 step or if Antelope was the first release from which it will be possible to skip one release and to go directly to the next SLURP release (Caracal). I didn't find a clear answer in the documentation... Best regards, Michel