Gregory Kahn

I am currently the head of machine learning at Remedy Robotics. We are developing the world's first remotely operated endovascular robot in order to bring cutting edge endovascular intervention to everyone around the world, as quickly and as safely as possible. If you are interested in working with leading clinicians and passionate engineers to solve high impact problems, please reach out to me at greg@remedyrobotics.com

Previously, I did my PhD in machine learning and robotics at BAIR at UC Berkeley, where I was advised by Professor Sergey Levine and Professor Pieter Abbeel and funded by the NSF GRFP. I did my bachelors at UC Berkeley, and have previously interned at Skydio.

Email / CV / GitHub / LinkedIn / Google Scholar / Dissertation Talk

Research

	Open X-Embodiment: Robotic Learning Datasets and RT-X Models A ton of authors, including me arXiv 2023 arxiv / website / code / blog / dataset
	Rapid Exploration for Open-World Navigation with Latent Goal Models Dhruv Shah, Ben Eysenbach, Gregory Kahn, Nick Rhinehart, Sergey Levine CoRL 2021 arxiv / website / video / blog / dataset
	LaND: Learning to Navigate from Disengagements Gregory Kahn, Pieter Abbeel, Sergey Levine RA-L and ICRA 2021 arxiv / website / video / code
	BADGR: An Autonomous Self-Supervised Learning-Based Navigation System Gregory Kahn, Pieter Abbeel, Sergey Levine RA-L and ICRA 2021 arxiv / website / video / code / blog / news
	ViNG: Learning Open-World Navigation with Visual Goals Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine ICRA 2021 arxiv / website / video
	Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads Suneel Belkhale, Rachel Li, Gregory Kahn, Rowan McAllister, Roberto Calandra, Sergey Levine RA-L and ICRA 2021 arxiv / website / video / code
	Multi-Robot Deep Reinforcement Learning for Mobile Navigation Katie Kang, Gregory Kahn, Sergey Levine arXiv Preprint NeurIPS Robot Learning Workshop 2020 [Best Paper Award] arxiv / website / video
	Deep Neural Pilot on Skydio 2 Gregory Kahn, Abraham Bachrach, Hayk Martiros video / news: IEEE Spectrum , The Batch , Import AI
	Generalization through Simulation: Integrating Simulated and Real Data into Deep Reinforcement Learning for Vision-Based Autonomous Flight Katie Kang, Suneel Belkhale, Gregory Kahn, Pieter Abbeel, Sergey Levine ICRA 2019* arxiv / video / code / news
	Robustness to Out-of-Distribution Inputs via Task-Aware Generative Uncertainty Rowan McAllister, Gregory Kahn, Jeff Clune, Sergey Levine ICRA 2019 arxiv
	Composable Action-Conditioned Predictors: Flexible Off-Policy Learning for Robot Navigation Gregory Kahn, Adam Villaflor, Pieter Abbeel, Sergey Levine CoRL 2018 arxiv / video / code
	Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots Anusha Nagabandi, Guangzhao Yang, Thomas Asmar, Ravi Pandya, Gregory Kahn, Sergey Levine, Ronald S. Fearing IROS 2018 [best paper finalist] arxiv / video / blog
	Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigation Gregory Kahn, Adam Villaflor, Bosen Ding, Pieter Abbeel, Sergey Levine ICRA 2018 arxiv / video / code / poster / slides
	Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing, Sergey Levine ICRA 2018 arxiv / video / code / blog
	Uncertainty-Aware Reinforcement Learning for Collision Avoidance Gregory Kahn, Adam Villaflor, Vitchyr Pong, Pieter Abbeel, Sergey Levine arXiv arxiv / video / slides
	PLATO: Policy Learning using Adaptive Trajectory Optimization Gregory Kahn, Tianhao Zhang, Sergey Levine, Pieter Abbeel ICRA 2017 arxiv / video / slides / poster
	Learning Deep Control Policies for Autonomous Aerial Vehicles with MPC-Guided Policy Search Tianhao Zhang, Gregory Kahn, Sergey Levine, Pieter Abbeel ICRA 2016 arxiv / video
	Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar RSS 2015
	Active Exploration using Trajectory Optimization for Robotic Grasping in the Presence of Occlusions Gregory Kahn, Peter Sujan, Sachin Patil, Shaunak D. Bopardikar, Julian Ryde, Ken Goldberg, Pieter Abbeel ICRA 2015 video
	Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel WAFR 2014
	Autonomous Multilateral Debridement with the Raven Surgical Robot Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg ICRA 2014 video

Website template from Jon Barron.
Last updated January 2024.