Dhruv Shah

Dhruv Shah
rsvha.uedeeh@.dyrulkbeh

I am a graduate student in EECS at UC Berkeley, where I am advised by Sergey Levine. I am a part of the Berkeley Artifical Intelligence Research Lab (BAIR) and Berkeley Deep Drive (BDD). My research is supported by the Berkeley Fellowship for Graduate Study.

Earlier, I graduated with honors from IIT Bombay, where I received the Undergraduate Research Award and the Institute Academic Prize. I have also been fortunate to spend time at Google Research, Carnegie Mellon University, Imperial College London and the University of Sydney.

CV / Scholar / Twitter / LinkedIn

Updates

[Jan 2023] Two papers on generalizable navigation policies across robots to accepted to ICRA 2023: GNM and Ex-Aug!
[Jan 2023] We are organizing the 2nd Workshop on Learning from Diverse, Offline Data at ICRA 2023 — consider submitting
[Dec 2022] We published an opinion and survey paper on data-driven navigation!
[Oct 2022] LM-Nav was featured in a video by Two Minute Papers!
[Sep 2022] We are organizing the Workshop on Language and Robot Learning at CoRL 2022 — consider submitting
[Sep 2022] Two papers accepted to CoRL 2022: LM-Nav and ReViND!
[Apr 2022] Our paper on kilometer-scale visual navigation was accepted to RSS 2022 as a Best Systems Paper Finalist
[Mar 2022] We are organizing the Workshop on Learning from Diverse, Offline Data at RSS 2022 — consider submitting
[Mar 2022] ViKiNG was featured in the news — see coverage by IEEE Spectrum and ZDNet!
[Jan 2022] Our paper on skill-centric state abstractions was accepted to ICLR 2022
[Jan 2022] Our paper on combining geometric costmaps with learned models was accepted to ICRA 2022
[Oct 2021] Check out this blog post by Sergey on data-driven robot learning, featuring some of my recent research
[Sep 2021] Our paper on goal-directed exploration on mobile robots was accepted as an Oral Talk to CoRL 2021
[Aug 2021] I'm teaching the Berkeley Deep RL class (CS285) as Head GSI this semester
[May 2021] I'll be spending the summer at Google Brain Robotics, interning with Brian Ichter and Alex Toshev
[Feb 2021] Our paper on navigating to visual goals in the real-world was accepted to ICRA 2021
[May 2020] Our paper on hybrid control for aerial manipulation was accepted to RSS 2020
[Jan 2020] Our paper on analyzing ingredients of real-world RL for robots was accepted to ICLR 2020

Blog Posts

Extracting Skill-Centric State Abstractions from Value Functions: our work on obtaining state abstractions that are informed by capabilities of low-level skills
Learning to Explore the Real World with a Ground Robot: our work on goal-directed exploration with a mobile robot
The Ingredients of Real World Robotic Reinforcement Learning: our work on robot learning in the real-world without instrumentation

Research

	ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentation Noriaki Hirose, Dhruv Shah, Ajay Sridhar, Sergey Levine International Conference on Robotics and Automation (ICRA), 2023 arXiv / Summary Video
	GNM: A General Navigation Model to Drive Any Robot Dhruv Shah^†, Ajay Sridhar^†, Arjun Bhorkar, Noriaki Hirose, Sergey Levine International Conference on Robotics and Automation (ICRA), 2023 arXiv / Summary Video / Code
	Learning Robotic Navigation from Experience: Principles, Methods, and Recent Results Sergey Levine, Dhruv Shah Philosophical Transactions of the Royal Society B, 2022 (Invited Paper) arXiv
	Offline Reinforcement Learning for Visual Navigation Dhruv Shah^†, Arjun Bhorkar^†, Hrish Leen, Ilya Kostrikov, Nick Rhinehart, Sergey Levine Conference on Robot Learning (CoRL), 2022 (Oral Talk) arXiv / Talk @ CoRL / Code
	LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action Dhruv Shah^†, Blazej Osinski^†, Brian Ichter, Sergey Levine Conference on Robot Learning (CoRL), 2022 Foundation Models for Decision Making Workshop at NeurIPS 2022 (Oral Talk) Bay Area Machine Learning Symposium (BayLearn) 2022 (Oral Talk) arXiv / Summary Video / Code / Interactive Colab / 2MP Feature / Spotlight @ CoRL
	ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints Dhruv Shah, Sergey Levine Best Systems Paper Finalist Robotics: Science and Systems (RSS), 2022 (Long Talk) arXiv / Talk @ RSS / Media Coverage
	Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments Nitish Dashora^†, Daniel Shin^†, Dhruv Shah, Henry Leopold, David Fan, Ali Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine International Conference on Robotics and Automation (ICRA), 2022 arXiv / Talk @ ICRA
	Value Function Spaces: Skill-Centric State Abstractions for Long-Horizon Reasoning Dhruv Shah, Peng Xu, Yao Lu, Ted Xiao, Alexander Toshev, Sergey Levine, Brian Ichter International Conference on Learning Representations (ICLR), 2022 Blog Post / arXiv / Talk @ ICLR
	Rapid Exploration for Open-World Navigation with Latent Goal Models Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine Conference on Robot Learning (CoRL), 2021 (Oral Talk) Workshop on Never-Ending Reinforcement Learning at ICLR 2021 (Oral Talk) Blog Post / arXiv / Talk @ CoRL / Talk @ ICLR / Dataset / Media Coverage
	ViNG: Learning Open-World Navigation with Visual Goals Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine International Conference on Robotics and Automation (ICRA), 2021 arXiv / Summary Video
	Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger Robotics: Science and Systems (RSS), 2020 arXiv / Talk / Cool Demos
	The Ingredients of Real World Robotic Reinforcement Learning Henry Zhu^†, Justin Yu^†, Abhishek Gupta^†, Dhruv Shah, Kristian Hartikainen, Avi Singh, Vikash Kumar, Sergey Levine International Conference on Learning Representations (ICLR), 2020 (Spotlight Talk) Blog Post / arXiv / Talk / Virtual Presentation
	Swarm Aggregation Without Communication and Global Positioning Dhruv Shah, Leena Vachhani Robotics and Automation Letters (RA-L), 2019 International Conference on Robotics and Automation (ICRA), 2019
	Projection Design for Compressive Source Separation using Mean Errors and Cross-Validation Dhruv Shah, Ajit Rajwade International Conference on Image Processing (ICIP), 2019
	Designing Constrained Projections for Compressed Sensing: Mean Errors and Anomalies with Coherence Dhruv Shah^†, Alankar Kotwal^†, Ajit Rajwade Global Conference on Signal and Information Processing (GlobalSIP), 2018

Of course, I did not design this page!