Continually learning new capabilities in different environments, and being ableto solve multiple complex tasks is of great importance for many robotics appli-cations. Modern reinforcement learning algorithms such as Proximal Policy Op-timization can successfully handle surprisingly difficult tasks, but are generallynot suited for multi-task or continual learning. Hypernetworks are a promisingapproach for avoiding catastrophic forgetting, and have previously been used suc-cessfully for continual…