no code implementations • 8 Dec 2023 • K. R. Zentner, Ujjwal Puri, Zhehui Huang, Gaurav S. Sukhatme
Then, we show that introducing a "fixup" phase is sufficient to guarantee a trust region is enforced on every policy update while adding fewer than 5% additional gradient steps in practice.
no code implementations • 19 Oct 2021 • K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav S. Sukhatme
We take a fresh look at this problem, by considering a setting in which the robot is limited to storing that knowledge and experience only in the form of learned skill policies.
no code implementations • 24 Jun 2021 • K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav Sukhatme
We explore possible methods for multi-task transfer learning which seek to exploit the shared physical structure of robotics tasks.