Held, David

39 publications

CoRL 2025 Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie, Bharath Hegde, David Held, Zackory Erickson

CoRL 2025 Geometric Red-Teaming for Robotic Manipulation Divyam Goel, Yufei Wang, Tiancheng Wu, Guixiu Qiao, Pavel Piliptchak, David Held, Zackory Erickson

CoRL 2025 Learn from What We HAVE: History-Aware VErifier That Reasons About past Interactions Online Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner, David Held

CoRL 2025 Planning from Point Clouds over Continuous Actions for Multi-Object Rearrangement Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner, Maxim Likhachev, David Held

ICLR 2024 Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerik, Jonathan Scholz, David Held

NeurIPS 2024 DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning Weikang Wan, Ziyu Wang, Yufei Wang, Zackory Erickson, David Held

CoRL 2024 FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held

CoRL 2024 Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance Abhijat Biswas, Pranay Gupta, Shreeya Khurana, David Held, Henny Admoni

CoRL 2024 Non-Rigid Relative Placement Through 3D Dense Diffusion Eric Cai, Octavian Donca, Ben Eisner, David Held

ICML 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

ICML 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

CoRL 2024 Visual Manipulation with Legs Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang

CoRL 2023 FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection Harry Zhang, Ben Eisner, David Held

CoRL 2023 HACMan: Learning Hybrid Actor-Critic Maps for 6d Non-Prehensile Manipulation Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

CVPR 2023 Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan

CoRL 2022 Deep Projective Rotation Estimation Through Relative Supervision Brian Okorn, Chuer Pan, Martial Hebert, David Held

ICLRW 2022 Deep Sequenced Linear Dynamical Systems for Manipulation Policy Learning Mohammad Nomaan Qureshi, Ben Eisner, David Held

ICLR 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

ECCV 2022 Differentiable Raycasting for Self-Supervised Occupancy Forecasting Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan

CoRL 2022 Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity Wenxuan Zhou, David Held

CoRL 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

CoRL 2022 TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held

CoRL 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

CVPR 2021 Exploiting & Refining Depth Distributions with Triangulation Light Curtains Yaadhav Raaj, Siddharth Ancha, Robert Tamburo, David Held, Srinivasa G. Narasimhan

CoRL 2021 FabricFlowNet: Bimanual Cloth Manipulation with a Flow-Based Policy Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held

CoRL 2021 Learning Off-Policy with Online Planning Harshit Sikchi, Wenxuan Zhou, David Held

CoRL 2021 Learning Visible Connectivity Dynamics for Cloth Smoothing Xingyu Lin, Yufei Wang, Zixuan Huang, David Held

CVPR 2021 Safe Local Motion Planning with Self-Supervised Freespace Forecasting Peiyun Hu, Aaron Huang, John Dolan, David Held, Deva Ramanan

NeurIPSW 2021 Transparent Liquid Segmentation for Robotic Pouring Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held

ECCV 2020 Active Perception Using Light Curtains for Autonomous Driving Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held

CoRL 2020 PLAS: Latent Action Space for Offline Reinforcement Learning Wenxuan Zhou, Sujay Bajracharya, David Held

CoRL 2020 ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning Yufei Wang, Narasimhan Gautham, Xingyu Lin, Brian Okorn, David Held

CoRL 2020 SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation Xingyu Lin, Yufei Wang, Jake Olkin, David Held

NeurIPS 2019 Adaptive Auxiliary Task Weighting for Reinforcement Learning Xingyu Lin, Harjatin Baweja, George Kantor, David Held

CoRL 2019 Combining Deep Learning and Verification for Precise Object Instance Detection Siddharth Ancha, Junyu Nan, David Held

ICML 2018 Automatic Goal Generation for Reinforcement Learning Agents Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel

ICML 2017 Constrained Policy Optimization Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel

CoRL 2017 Reverse Curriculum Generation for Reinforcement Learning Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel

ECCV 2016 Learning to Track at 100 FPS with Deep Regression Networks David Held, Sebastian Thrun, Silvio Savarese