Gregory Kahn

I am currently a founding engineer at a stealth surgical robotics startup.

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.

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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

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 / 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

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

Website template from Jon Barron.
Last updated January 2021.