Murtaza Dalal


Hi! I am a Robotics PhD Student 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.

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

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Research

I am interested in developing intelligent, efficient, adaptable robotics systems by leveraging techniques from deep reinforcement learning, machine learning, optimization, control and computer vision.

Publication Areas:

All Hierarchical Learning Self-supervised Learning Goal-conditioned Learning Demo-accelerated Learning

(* indicate equal contribution)
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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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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 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 Presentation)
[arXiv] [site] [code] [blog]


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Composable Deep Reinforcement Learning for Robotic Manipulation
Tuomas Haarnoja*, Vitchyr H. Pong, Aurick Zhou, Murtaza Dalal, PieterAbbeel, 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]

Teaching
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CS188 - Spring 2019 (uGSI)


Credit to this great repo for providing the source code for the website!