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A Simple Approach to Continual Learning by Transferring Skill Parameters


Oct 19, 2021
K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav S. Sukhatme

* Submitted to ICRA 2022 

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


Jun 29, 2021
K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav Sukhatme

* Accepted to Challenges of Real World Reinforcement Learning, Virtual Workshop at NeurIPS 2020 

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Towards Exploiting Geometry and Time for FastOff-Distribution Adaptation in Multi-Task RobotLearning


Jun 24, 2021
K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav Sukhatme

* Accepted to Challenges of Real World Reinforcement Learning, Virtual Workshop at NeurIPS 2020 

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Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills


Apr 28, 2021
Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jake Varley, Alex Irpan, Benjamin Eysenbach, Ryan Julian, Chelsea Finn, Sergey Levine


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Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation


Apr 21, 2020
Ryan Julian, Benjamin Swanson, Gaurav S. Sukhatme, Sergey Levine, Chelsea Finn, Karol Hausman

* 8.5 pages, 9 figures. See video overview and experiments at https://youtu.be/pPDVewcSpdc and project website at https://ryanjulian.me/continual-fine-tuning 

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Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning


Oct 24, 2019
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, Sergey Levine

* CoRL 2019. Videos are here: meta-world.github.io and open-sourced codes are available at: https://github.com/rlworkgroup/metaworld 

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Scaling simulation-to-real transfer by learning composable robot skills


Nov 13, 2018
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Presented at ISER 2018. See https://www.youtube.com/watch?v=Syr2RQTHqTs for supplemental video 

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Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations


Nov 13, 2018
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Submitted to ICRA 2019. See https://youtu.be/te4JWe7LPKw for supplemental video 

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Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation


Oct 02, 2018
Hejia Zhang, Eric Heiden, Ryan Julian, Zhangpeng He, Joseph J. Lim, Gaurav S. Sukhatme

* Submitted to ICRA 2019 

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