Murtaza Dalal

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Hi! I am a Robotics PhD Candidate in the Robotics Institute at Carnegie Mellon University. I am advised by Professor Ruslan Salakhutdinov and I also work closely with Professor Deepak Pathak. My research work is supported by the National Science Foundation Graduate Research Fellowship. I am currently funded by and collaborating closely with Jian Zhang's group at Apple Research, where I work with Walter Talbott. During my PhD, I also spent a summer at NVIDIA research, where I worked in Professor Dieter Fox's lab, advised by Ankur Handa, Ajay Mandlekar and Caelan Garrett.

Previously, I was an undergraduate student at UC Berkeley where I received my BS in Electrical Engineering and Computer Science. I was an undergraduate researcher in Berkeley Artificial Intelligence and Research, working with Professor Sergey Levine, Vitchyr Pong and Ashvin Nair on deep reinforcement learning and robotics research. I also interned at (Google) X Robotics where I worked with Daniel Kappler.

Feel free to contact me via email! You can reach me at mdalal -at- andrew dot cmu dot edu


  Research

I am interested in building generalist agents that are capable of solving any task of interest. To that end, my work focuses on unlocking generalization in robot learning by enabling agents to efficiently explore in the real world, leveraging hierarchy to quickly solve new tasks, performing imitation learning at scale to train powerful generalist agents and integrating large-scale learning into hierarchical systems to enable broadly capable manipulation systems. Here is some of my work (representative papers are highlighted):



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Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal*, Min Liu*, Walter Talbott, Chen Chen, Deepak Pathak, Jian Zhang, Ruslan Salakhutdinov,
CoRL Learning Embodied Abstractions for Planning Workshop, 2024 (Oral)
arXiv | site | video

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Neural MP: A Generalist Neural Motion Planner
Murtaza Dalal*, Jiahui Yang*, Russell Mendonca, Youssef Khaky, Ruslan Salakhutdinov, Deepak Pathak
arXiv | site | code | video

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Plan-Seq-Learn: Language Model Guided RL for Solving
Long Horizon Robotics Tasks

Murtaza Dalal*, Tarun Chiruvolu, Devendra Chaplot, Ruslan Salakhutdinov
International Conference on Learning Representations (ICLR), 2024
arXiv | site | code

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Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar*, Caelan Garrett*, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
Conference on Robot Learning (CoRL), 2023
arXiv | site | code

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SEAL: Self-supervised Embodied Active Learning using
Exploration and 3D Consistency

Devendra Chaplot* Murtaza Dalal, Saurabh Gupta, Jitendra Malik, Ruslan Salakhutdinov
Neural Information Processing Systems (NeurIPS), 2021
arXiv | site | video

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Accelerating Robotic Reinforcement Learning via
Parameterized Action Primitives

Murtaza Dalal*, Deepak Pathak, Ruslan Salakhutdinov
Neural Information Processing Systems (NeurIPS), 2021
arXiv | site | code

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Accelerating Online Reinforcement Learning with Offline Datasets
Ashvin Nair*, Abhishek Gupta*, Murtaza Dalal, Sergey Levine
arXiv | site | code | blog


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Skew-Fit: State-Covering Self-Supervised Reinforcement Learning
Vitchyr H. Pong*, Murtaza Dalal*, Steven Lin*, Ashvin Nair, Shikhar Bahl, Sergey Levine
International Conference on Machine Learning (ICML), 2020
arXiv | site | code


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Scalable Multi-Task Imitation Learning with Autonomous Improvement
Avi Singh*, Eric Jang, Alexander Irpan, Daniel Kappler, Murtaza Dalal, Sergey Levine, Mohi Khansari, Chelsea Finn
International Conference on Robotics and Automation (ICRA), 2020.
arXiv | site | video


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Visual Reinforcement Learning with Imagined Goals
Ashvin Nair*, Vitchyr H. Pong*, Murtaza Dalal, Shikhar Bahl, Steven Lin, Sergey Levine
Advances in Neural Information Processing Systems (NeurIPS), 2018 (Spotlight)
arXiv | site | code | blog


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Composable Deep Reinforcement Learning for Robotic Manipulation
Tuomas Haarnoja*, Vitchyr H. Pong, Aurick Zhou, Murtaza Dalal, Pieter Abbeel, Sergey Levine
International Conference on Robotics and Automation (ICRA), 2018.
arXiv | site | code

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Temporal Difference Models: Model-Free Deep RL for Model-Based Control
Vitchyr H. Pong*, Shixiang Gu*, Murtaza Dalal, Sergey Levine
International Conference on Learning Representations (ICLR), 2018.
arXiv | code | blog


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