David Held

According to our database, David Held authored at least 95 papers between 2004 and 2024.

Collaborative distances:

• Dijkstra number of three.
• Erdős number of four.

2024

Active velocity estimation using light curtains via self-supervised multi-armed bandits.

Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held

Auton. Robots, August, 2024

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing.

Zhanyi Sun, Yufei Wang, David Held, Zackory Erickson

IEEE Robotics Autom. Lett., May, 2024

Object Importance Estimation Using Counterfactual Reasoning for Intelligent Driving.

Pranay Gupta, Abhijat Biswas, Henny Admoni, David Held

IEEE Robotics Autom. Lett., 2024

SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting.

Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandún, David Held, George Kantor, Abhisesh Silwal

CoRR, 2024

HACMan++: Spatially-Grounded Motion Primitives for Manipulation.

Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held

CoRR, 2024

Unfolding the Literature: A Review of Robotic Cloth Manipulation.

Alberta Longhini, Yufei Wang, Irene Garcia-Camacho, David Blanco-Mulero, Marco Moletta, Michael C. Welle, Guillem Alenyà, Hang Yin, Zackory Erickson, David Held, Júlia Borràs, Danica Kragic

CoRR, 2024

DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning.

Weikang Wan, Yufei Wang, Zackory Erickson, David Held

CoRR, 2024

On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks.

Mohammad Nomaan Qureshi, Ben Eisner, David Held

CoRR, 2024

Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization.

Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation.

Jenny Wang, Octavian Donca, David Held

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation.

Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, Chuang Gan

Proceedings of the Forty-first International Conference on Machine Learning, 2024

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback.

Yufei Wang, Zhanyi Sun, Jesse Zhang, Zhou Xian, Erdem Biyik, David Held, Zackory Erickson

Proceedings of the Forty-first International Conference on Machine Learning, 2024

Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks.

Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerík, Jonathan Scholz, David Held

Proceedings of the Twelfth International Conference on Learning Representations, 2024

2023

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation.

Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Zackory Erickson, David Held, Chuang Gan

CoRR, 2023

Learning Generalizable Tool-use Skills through Trajectory Generation.

Carl Qi, Sarthak J. Shetty, Xingyu Lin, David Held

CoRR, 2023

Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation.

Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

CoRR, 2023

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments.

Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Bagging by Learning to Singulate Layers Using Interactive Perception.

Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

IROS, 2023

Neural Grasp Distance Fields for Robot Manipulation.

Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles Elastic Context: Encoding Elasticity for Data-driven Models of Textiles.

Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics.

Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking.

Zixuan Huang, Xingyu Lin, David Held

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

AutoBag: Learning to Open Plastic Bags and Insert Objects.

Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting.

Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023

HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation.

Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

Proceedings of the Conference on Robot Learning, 2023

FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection.

Harry Zhang, Ben Eisner, David Held

Proceedings of the Conference on Robot Learning, 2023

2022

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions.

Yufei Wang, David Held, Zackory Erickson

IEEE Robotics Autom. Lett., 2022

Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module.

Carl Qi, Xingyu Lin, David Held

IEEE Robotics Autom. Lett., 2022

OSSID: Online Self-Supervised Instance Detection by (And For) Pose Estimation.

Qiao Gu, Brian Okorn, David Held

IEEE Robotics Autom. Lett., 2022

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles.

Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic

CoRR, 2022

Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation.

Zixuan Huang, Xingyu Lin, David Held

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects.

Ben Eisner, Harry Zhang, David Held

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Learning to Singulate Layers of Cloth using Tactile Feedback.

Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Self-supervised Transparent Liquid Segmentation for Robotic Pouring.

Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools.

Xingyu Lin, Zhiao Huang, Yunzhu Li, Joshua B. Tenenbaum, David Held, Chuang Gan

Proceedings of the Tenth International Conference on Learning Representations, 2022

Differentiable Raycasting for Self-Supervised Occupancy Forecasting.

Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan

Proceedings of the Computer Vision - ECCV 2022, 2022

Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity.

Wenxuan Zhou, David Held

Proceedings of the Conference on Robot Learning, 2022

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds.

Daniel Seita, Yufei Wang, Sarthak J. Shetty, Edward Yao Li, Zackory Erickson, David Held

Proceedings of the Conference on Robot Learning, 2022

TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation.

Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held

Proceedings of the Conference on Robot Learning, 2022

Deep Projective Rotation Estimation through Relative Supervision.

Brian Okorn, Chuer Pan, Martial Hebert, David Held

Proceedings of the Conference on Robot Learning, 2022

Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation.

Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held

Proceedings of the Conference on Robot Learning, 2022

2021

Learning Visible Connectivity Dynamics for Cloth Smoothing.

Xingyu Lin, Yufei Wang, David Held

CoRR, 2021

Lyapunov Barrier Policy Optimization.

Harshit Sikchi, Wenxuan Zhou, David Held

CoRR, 2021

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees.

Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

RB2: Robotic Manipulation Benchmarking with a Twist.

Sudeep Dasari, Jianren Wang, Joyce Hong, Shikhar Bahl, Yixin Lin, Austin S. Wang, Abitha Thankaraj, Karanbir Chahal, Berk Çalli, Saurabh Gupta, David Held, Lerrel Pinto, Deepak Pathak, Vikash Kumar, Abhinav Gupta

Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks 1, 2021

ZePHyR: Zero-shot Pose Hypothesis Rating.

Brian Okorn, Qiao Gu, Martial Hebert, David Held

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Exploiting & Refining Depth Distributions With Triangulation Light Curtains.

Yaadhav Raaj, Siddharth Ancha, Robert Tamburo, David Held, Srinivasa G. Narasimhan

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

Safe Local Motion Planning With Self-Supervised Freespace Forecasting.

Peiyun Hu, Aaron Huang, John M. Dolan, David Held, Deva Ramanan

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy.

Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

Learning Off-Policy with Online Planning.

Harshit Sikchi, Wenxuan Zhou, David Held

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

Learning Visible Connectivity Dynamics for Cloth Smoothing.

Xingyu Lin, Yufei Wang, Zixuan Huang, David Held

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

Self-Supervised Point Cloud Completion via Inpainting.

Himangi Mittal, Brian Okorn, Arpit Jangid, David Held

Proceedings of the 32nd British Machine Vision Conference 2021, 2021

Semi-supervised 3D Object Detection via Temporal Graph Neural Networks.

Jianren Wang, Haiming Gang, Siddarth Ancha, Yi-Ting Chen, David Held

Proceedings of the International Conference on 3D Vision, 2021

2020

Multi-Modal Transfer Learning for Grasping Transparent and Specular Objects.

Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held

IEEE Robotics Autom. Lett., 2020

Learning to Optimally Segment Point Clouds.

Peiyun Hu, David Held, Deva Ramanan

IEEE Robotics Autom. Lett., 2020

PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection.

Xia Chen, Jianren Wang, David Held, Martial Hebert

CoRR, 2020

Robust Instance Tracking via Uncertainty Flow.

Jianing Qian, Junyu Nan, Siddharth Ancha, Brian Okorn, David Held

CoRR, 2020

AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics.

Xinshuo Weng, Jianren Wang, David Held, Kris Kitani

CoRR, 2020

3D Multi-Object Tracking: A Baseline and New Evaluation Metrics.

Xinshuo Weng, Jianren Wang, David Held, Kris Kitani

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Uncertainty-aware Self-supervised 3D Data Association.

Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Cloth Region Segmentation for Robust Grasp Selection.

Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Learning Orientation Distributions for Object Pose Estimation.

Brian Okorn, Mengyun Xu, Martial Hebert, David Held

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Active Perception Using Light Curtains for Autonomous Driving.

Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held

Proceedings of the Computer Vision - ECCV 2020, 2020

Just Go With the Flow: Self-Supervised Scene Flow Estimation.

Himangi Mittal, Brian Okorn, David Held

Proceedings of the 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020

What You See is What You Get: Exploiting Visibility for 3D Object Detection.

Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan

Proceedings of the 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020

PLAS: Latent Action Space for Offline Reinforcement Learning.

Wenxuan Zhou, Sujay Bajracharya, David Held

Proceedings of the 4th Conference on Robot Learning, 2020

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning.

Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held

Proceedings of the 4th Conference on Robot Learning, 2020

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation.

Xingyu Lin, Yufei Wang, Jake Olkin, David Held

Proceedings of the 4th Conference on Robot Learning, 2020

PanoNet3D: Combining Semantic and Geometric Understanding for LiDAR Point Cloud Detection.

Xia Chen, Jianren Wang, David Held, Martial Hebert

Proceedings of the 8th International Conference on 3D Vision, 2020

2019

FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans.

Peng Yin, Jianing Qian, Yibo Cao, David Held, Howie Choset

CoRR, 2019

Few-Shot Point Cloud Region Annotation with Human in the Loop.

Siddhant Jain, Sowmya Munukutla, David Held

CoRR, 2019

Reinforcement Learning without Ground-Truth State.

Xingyu Lin, Harjatin Singh Baweja, David Held

CoRR, 2019

Enabling robots to communicate their objectives.

Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan

Auton. Robots, 2019

Adaptive Auxiliary Task Weighting for Reinforcement Learning.

Xingyu Lin, Harjatin Singh Baweja, George Kantor, David Held

Proceedings of the Advances in Neural Information Processing Systems 32: Annual Conference on Neural Information Processing Systems 2019, 2019

Adaptive Variance for Changing Sparse-Reward Environments.

Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held

Proceedings of the International Conference on Robotics and Automation, 2019

Combining Deep Learning and Verification for Precise Object Instance Detection.

Siddharth Ancha, Junyu Nan, David Held

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Iterative Transformer Network for 3D Point Cloud.

Wentao Yuan, David Held, Christoph Mertz, Martial Hebert

CoRR, 2018

Automatic Goal Generation for Reinforcement Learning Agents.

Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel

Proceedings of the 35th International Conference on Machine Learning, 2018

PCN: Point Completion Network.

Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert

Proceedings of the 2018 International Conference on 3D Vision, 2018

2017

Reverse Curriculum Generation for Reinforcement Learning.

Carlos Florensa, David Held, Markus Wulfmeier, Pieter Abbeel

CoRR, 2017

Policy transfer via modularity and reward guiding.

Ignasi Clavera, David Held, Pieter Abbeel

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Probabilistically safe policy transfer.

David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Constrained Policy Optimization.

Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel

Proceedings of the 34th International Conference on Machine Learning, 2017

Reverse Curriculum Generation for Reinforcement Learning.

Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel

Proceedings of the 1st Annual Conference on Robot Learning, CoRL 2017, Mountain View, 2017

2016

Robust real-time tracking combining 3D shape, color, and motion.

David Held, Jesse Levinson, Sebastian Thrun, Silvio Savarese

Int. J. Robotics Res., 2016

A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues.

David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, Silvio Savarese

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Robust single-view instance recognition.

David Held, Sebastian Thrun, Silvio Savarese

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Learning to Track at 100 FPS with Deep Regression Networks.

David Held, Sebastian Thrun, Silvio Savarese

Proceedings of the Computer Vision - ECCV 2016, 2016

2015

Deep Learning for Single-View Instance Recognition.

David Held, Sebastian Thrun, Silvio Savarese

CoRR, 2015

2014

Combining 3D Shape, Color, and Motion for Robust Anytime Tracking.

David Held, Jesse Levinson, Sebastian Thrun, Silvio Savarese

Proceedings of the Robotics: Science and Systems X, 2014

2013

Precision tracking with sparse 3D and dense color 2D data.

David Held, Jesse Levinson, Sebastian Thrun

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Characterizing the stiffness of a multi-segment flexible arm during motion.

David Held, Yoram Yekutieli, Tamar Flash

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A probabilistic framework for car detection in images using context and scale.

David Held, Jesse Levinson, Sebastian Thrun

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011

Towards fully autonomous driving: Systems and algorithms.

Jesse Levinson, Jake Askeland, Jan Becker, Jennifer Dolson, David Held, Sören Kammel, J. Zico Kolter, Dirk Langer, Oliver Pink, Vaughan R. Pratt, Michael Sokolsky, Ganymed Stanek, David Michael Stavens, Alex Teichman, Moritz Werling, Sebastian Thrun

Proceedings of the IEEE Intelligent Vehicles Symposium (IV), 2011

2004

MVWT-II: the second generation Caltech Multi-Vehicle Wireless Testbed.

Zhipu Jin, Stephan Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray

Proceedings of the 2004 American Control Conference, 2004