David Held

ORCID

Publication Activity (10 Years)

Years Active: 2004-2024
Publications (10 Years): 142

Top Venues

CoRR

CoRL

ICRA

Robotics: Science and Systems

Publications

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
Unfolding the Literature: A Review of Robotic Cloth Manipulation. CoRR (2024)
Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerík, Jonathan Scholz, David Held
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. CoRR (2024)
M. Nomaan Qureshi, Ben Eisner, David Held
On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks. CoRR (2024)
Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. ICRA (2024)
Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerík, Jonathan Scholz, David Held
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. ICLR (2024)
Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held
Active velocity estimation using light curtains via self-supervised multi-armed bandits. Auton. Robots 48 (6-7) (2024)
Zhanyi Sun, Yufei Wang, David Held, Zackory Erickson
Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. IEEE Robotics Autom. Lett. 9 (5) (2024)
Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held
HACMan++: Spatially-Grounded Motion Primitives for Manipulation. CoRR (2024)
Jenny Wang, Octavian Donca, David Held
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. ICRA (2024)
Jenny Wang, Octavian Donca, David Held
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. CoRR (2024)
Pranay Gupta, Abhijat Biswas, Henny Admoni, David Held
Object Importance Estimation Using Counterfactual Reasoning for Intelligent Driving. IEEE Robotics Autom. Lett. 9 (4) (2024)
Yufei Wang, Zhanyi Sun, Jesse Zhang, Zhou Xian, Erdem Biyik, David Held, Zackory Erickson
RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback. CoRR (2024)
Weikang Wan, Yufei Wang, Zackory Erickson, David Held
DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. CoRR (2024)
Zixuan Huang, Xingyu Lin, David Held
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. CoRR (2023)
Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
Neural Grasp Distance Fields for Robot Manipulation. ICRA (2023)
Zhanyi Sun, Yufei Wang, David Held, Zackory Erickson
Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. CoRR (2023)
Carl Qi, Sarthak J. Shetty, Xingyu Lin, David Held
Learning Generalizable Tool-use Skills through Trajectory Generation. CoRR (2023)
Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. Robotics: Science and Systems (2023)
Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. CoRL (2023)
Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. CoRR (2023)
Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. CoRR (2023)
Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting. CVPR (2023)
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
Bagging by Learning to Singulate Layers Using Interactive Perception. IROS (2023)
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
Bagging by Learning to Singulate Layers Using Interactive Perception. CoRR (2023)
Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits. CoRR (2023)
Harry Zhang, Ben Eisner, David Held
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection. CoRR (2023)
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. ICRA (2023)
Pranay Gupta, Abhijat Biswas, Henny Admoni, David Held
Object Importance Estimation using Counterfactual Reasoning for Intelligent Driving. CoRR (2023)
Zixuan Huang, Xingyu Lin, David Held
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. ICRA (2023)
Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held
Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. CoRR (2023)
Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Zackory Erickson, David Held, Chuang Gan
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. CoRR (2023)
Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting. CoRR (2023)
Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits. Robotics: Science and Systems (2023)
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
AutoBag: Learning to Open Plastic Bags and Insert Objects. ICRA (2023)
Harry Zhang, Ben Eisner, David Held
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection. CoRL (2023)
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic
EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics. ICRA (2023)
Carl Qi, Xingyu Lin, David Held
Learning Closed-loop Dough Manipulation Using a Differentiable Reset Module. CoRR (2022)
Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation. CoRL (2022)
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic
EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics. CoRR (2022)
Brian Okorn, Chuer Pan, Martial Hebert, David Held
Deep Projective Rotation Estimation through Relative Supervision. CoRL (2022)
Qiao Gu, Brian Okorn, David Held
OSSID: Online Self-Supervised Instance Detection by (and for) Pose Estimation. CoRR (2022)
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. CoRR (2022)
Qiao Gu, Brian Okorn, David Held
OSSID: Online Self-Supervised Instance Detection by (And For) Pose Estimation. IEEE Robotics Autom. Lett. 7 (2) (2022)
Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation. CoRR (2022)
Ben Eisner, Harry Zhang, David Held
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects. CoRR (2022)
Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
Neural Grasp Distance Fields for Robot Manipulation. CoRR (2022)
Zixuan Huang, Xingyu Lin, David Held
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. Robotics: Science and Systems (2022)
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
RB2: Robotic Manipulation Benchmarking with a Twist. CoRR (2022)
Xingyu Lin, Zhiao Huang, Yunzhu Li, Joshua B. Tenenbaum, David Held, Chuang Gan
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools. CoRR (2022)
Carl Qi, Xingyu Lin, David Held
Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module. IEEE Robotics Autom. Lett. 7 (4) (2022)
Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation. CoRR (2022)
Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held
Self-supervised Transparent Liquid Segmentation for Robotic Pouring. ICRA (2022)
Brian Okorn, Chuer Pan, Martial Hebert, David Held
Deep Projective Rotation Estimation through Relative Supervision. CoRR (2022)
Ben Eisner, Harry Zhang, David Held
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects. Robotics: Science and Systems (2022)
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
AutoBag: Learning to Open Plastic Bags and Insert Objects. CoRR (2022)
Wenxuan Zhou, David Held
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. CoRL (2022)
Yufei Wang, David Held, Zackory Erickson
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. IEEE Robotics Autom. Lett. 7 (4) (2022)
Xingyu Lin, Zhiao Huang, Yunzhu Li, Joshua B. Tenenbaum, David Held, Chuang Gan
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools. ICLR (2022)
Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan
Differentiable Raycasting for Self-supervised Occupancy Forecasting. CoRR (2022)
Daniel Seita, Yufei Wang, Sarthak J. Shetty, Edward Yao Li, Zackory Erickson, David Held
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds. CoRR (2022)
Zixuan Huang, Xingyu Lin, David Held
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. CoRR (2022)
Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan
Differentiable Raycasting for Self-Supervised Occupancy Forecasting. ECCV (38) (2022)
Yufei Wang, David Held, Zackory Erickson
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. CoRR (2022)
Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held
Learning to Singulate Layers of Cloth using Tactile Feedback. CoRR (2022)
Wenxuan Zhou, David Held
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. CoRR (2022)
Daniel Seita, Yufei Wang, Sarthak J. Shetty, Edward Yao Li, Zackory Erickson, David Held
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds. CoRL (2022)
Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation. CoRL (2022)
Jianren Wang, Haiming Gang, Siddarth Ancha, Yi-Ting Chen, David Held
Semi-supervised 3D Object Detection via Temporal Graph Neural Networks. CoRR (2022)
Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held
Learning to Singulate Layers of Cloth using Tactile Feedback. IROS (2022)
Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held
Self-supervised Transparent Liquid Segmentation for Robotic Pouring. CoRR (2022)
Peiyun Hu, Aaron Huang, John M. Dolan, David Held, Deva Ramanan
Safe Local Motion Planning With Self-Supervised Freespace Forecasting. CVPR (2021)
Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. CoRL (2021)
Thomas Weng, Sujay Bajracharya, Yufei Wang, Khush Agrawal, David Held
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. CoRR (2021)
Harshit Sikchi, Wenxuan Zhou, David Held
Learning Off-Policy with Online Planning. CoRL (2021)
Xingyu Lin, Yufei Wang, Zixuan Huang, David Held
Learning Visible Connectivity Dynamics for Cloth Smoothing. CoRL (2021)
Himangi Mittal, Brian Okorn, Arpit Jangid, David Held
Self-Supervised Point Cloud Completion via Inpainting. BMVC (2021)
Jianren Wang, Haiming Gang, Siddarth Ancha, Yi-Ting Chen, David Held
Semi-supervised 3D Object Detection via Temporal Graph Neural Networks. 3DV (2021)
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
RB2: Robotic Manipulation Benchmarking with a Twist. NeurIPS Datasets and Benchmarks (2021)
Xingyu Lin, Yufei Wang, David Held
Learning Visible Connectivity Dynamics for Cloth Smoothing. CoRR (2021)
Yaadhav Raaj, Siddharth Ancha, Robert Tamburo, David Held, Srinivasa G. Narasimhan
Exploiting & Refining Depth Distributions With Triangulation Light Curtains. CVPR (2021)
Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. Robotics: Science and Systems (2021)
Himangi Mittal, Brian Okorn, Arpit Jangid, David Held
Self-Supervised Point Cloud Completion via Inpainting. CoRR (2021)
Brian Okorn, Qiao Gu, Martial Hebert, David Held
ZePHyR: Zero-shot Pose Hypothesis Rating. ICRA (2021)
Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. CoRR (2021)
Brian Okorn, Qiao Gu, Martial Hebert, David Held
ZePHyR: Zero-shot Pose Hypothesis Rating. CoRR (2021)
Harshit Sikchi, Wenxuan Zhou, David Held
Lyapunov Barrier Policy Optimization. CoRR (2021)
Brian Okorn, Mengyun Xu, Martial Hebert, David Held
Learning Orientation Distributions for Object Pose Estimation. IROS (2020)
Wenxuan Zhou, Sujay Bajracharya, David Held
PLAS: Latent Action Space for Offline Reinforcement Learning. CoRR (2020)
Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan
What You See is What You Get: Exploiting Visibility for 3D Object Detection. CVPR (2020)
Peiyun Hu, David Held, Deva Ramanan
Learning to Optimally Segment Point Clouds. IEEE Robotics Autom. Lett. 5 (2) (2020)
Brian Okorn, Mengyun Xu, Martial Hebert, David Held
Learning Orientation Distributions for Object Pose Estimation. CoRR (2020)
Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. CoRL (2020)
Jianing Qian, Junyu Nan, Siddharth Ancha, Brian Okorn, David Held
Robust Instance Tracking via Uncertainty Flow. CoRR (2020)
Xia Chen, Jianren Wang, David Held, Martial Hebert
PanoNet3D: Combining Semantic and Geometric Understanding for LiDAR Point Cloud Detection. 3DV (2020)
Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held
Active Perception using Light Curtains for Autonomous Driving. CoRR (2020)
Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects. CoRR (2020)
Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held
Cloth Region Segmentation for Robust Grasp Selection. CoRR (2020)
Xinshuo Weng, Jianren Wang, David Held, Kris Kitani
3D Multi-Object Tracking: A Baseline and New Evaluation Metrics. IROS (2020)
Xia Chen, Jianren Wang, David Held, Martial Hebert
PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection. CoRR (2020)
Xinshuo Weng, Jianren Wang, David Held, Kris Kitani
AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics. CoRR (2020)

David Held.css-eqlu8i{font-size:small;padding-left:4px;}

Publication Activity (10 Years)

Top Topics

Top Venues

David Held