Search Results for author: Ujjwal Puri

Found 3 papers, 0 papers with code

Towards Exploiting Geometry and Time for Fast Off-Distribution Adaptation in Multi-Task Robot Learning

no code implementations24 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.

Transfer Learning

A Simple Approach to Continual Learning by Transferring Skill Parameters

no code implementations19 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.

Continual Learning

Guaranteed Trust Region Optimization via Two-Phase KL Penalization

no code implementations8 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.

Computational Efficiency Reinforcement Learning (RL)

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