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2020 – today
- 2024
[j10]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): 15 (2024)- [j9]Pranay Gupta
, Abhijat Biswas, Henny Admoni, David Held:
Object Importance Estimation Using Counterfactual Reasoning for Intelligent Driving. IEEE Robotics Autom. Lett. 9(4): 3648-3655 (2024) - [j8]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): 4178-4185 (2024) - [c67]Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerík, Jonathan Scholz, David Held:
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. ICLR 2024 - [c66]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. ICML 2024 - [c65]Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, Chuang Gan:
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. ICML 2024 - [c64]Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held:
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. ICRA 2024: 2845-2851 - [c63]Jenny Wang, Octavian Donca, David Held:
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. ICRA 2024: 15054-15060 - [i78]Mohammad Nomaan Qureshi, Ben Eisner, David Held:
On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks. CoRR abs/2401.01993 (2024) - [i77]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 abs/2402.03681 (2024) - [i76]Weikang Wan, Yufei Wang, Zackory Erickson, David Held:
DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. CoRR abs/2402.05421 (2024) - [i75]Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerík, Jonathan Scholz, David Held:
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. CoRR abs/2404.13478 (2024) - [i74]Jenny Wang, Octavian Donca, David Held:
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. CoRR abs/2405.04609 (2024) - [i73]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 abs/2407.01361 (2024) - [i72]Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held:
HACMan++: Spatially-Grounded Motion Primitives for Manipulation. CoRR abs/2407.08585 (2024) - [i71]Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandún, David Held, George Kantor, Abhisesh Silwal:
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting. CoRR abs/2409.10161 (2024) - [i70]Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held:
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation. CoRR abs/2410.07078 (2024) - [i69]Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang:
Visual Manipulation with Legs. CoRR abs/2410.11345 (2024) - [i68]Eric Cai, Octavian Donca, Ben Eisner, David Held:
Non-rigid Relative Placement through 3D Dense Diffusion. CoRR abs/2410.19247 (2024) - 2023
- [c62]Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held:
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. CoRL 2023: 241-265 - [c61]Harry Zhang, Ben Eisner, David Held:
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection. CoRL 2023: 1222-1241 - [c60]Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan:
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting. CVPR 2023: 1116-1124 - [c59]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: 1764-1770 - [c58]Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam:
Neural Grasp Distance Fields for Robot Manipulation. ICRA 2023: 1814-1821 - [c57]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: 3875-3881 - [c56]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: 3918-3925 - [c55]Zixuan Huang, Xingyu Lin, David Held:
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. ICRA 2023: 7111-7118 - [c54]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: 3176-3183 - [c53]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 - [c52]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 - [i67]Zixuan Huang, Xingyu Lin, David Held:
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. CoRR abs/2302.09502 (2023) - [i66]Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held:
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits. CoRR abs/2302.12597 (2023) - [i65]Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan:
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting. CoRR abs/2302.13130 (2023) - [i64]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 abs/2303.16898 (2023) - [i63]Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held:
Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. CoRR abs/2305.03942 (2023) - [i62]Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held:
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. CoRR abs/2306.12372 (2023) - [i61]Harry Zhang, Ben Eisner, David Held:
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection. CoRR abs/2306.12893 (2023) - [i60]Carl Qi, Sarthak J. Shetty, Xingyu Lin, David Held:
Learning Generalizable Tool-use Skills through Trajectory Generation. CoRR abs/2310.00156 (2023) - [i59]Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held:
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. CoRR abs/2310.06903 (2023) - [i58]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 abs/2311.01455 (2023) - [i57]Zhanyi Sun, Yufei Wang, David Held, Zackory Erickson:
Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. CoRR abs/2311.04390 (2023) - [i56]Pranay Gupta, Abhijat Biswas, Henny Admoni, David Held:
Object Importance Estimation using Counterfactual Reasoning for Intelligent Driving. CoRR abs/2312.02467 (2023) - 2022
- [j7]Qiao Gu, Brian Okorn, David Held:
OSSID: Online Self-Supervised Instance Detection by (And For) Pose Estimation. IEEE Robotics Autom. Lett. 7(2): 3022-3029 (2022) - [j6]Carl Qi, Xingyu Lin, David Held:
Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module. IEEE Robotics Autom. Lett. 7(4): 9864-9871 (2022) - [j5]Yufei Wang, David Held, Zackory Erickson:
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. IEEE Robotics Autom. Lett. 7(4): 11426-11433 (2022) - [c51]Wenxuan Zhou, David Held:
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. CoRL 2022: 150-160 - [c50]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: 1038-1049 - [c49]Brian Okorn, Chuer Pan, Martial Hebert, David Held:
Deep Projective Rotation Estimation through Relative Supervision. CoRL 2022: 1575-1585 - [c48]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: 1640-1651 - [c47]Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held:
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation. CoRL 2022: 1783-1792 - [c46]Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan:
Differentiable Raycasting for Self-Supervised Occupancy Forecasting. ECCV (38) 2022: 353-369 - [c45]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 - [c44]Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held:
Self-supervised Transparent Liquid Segmentation for Robotic Pouring. ICRA 2022: 4555-4561 - [c43]Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held:
Learning to Singulate Layers of Cloth using Tactile Feedback. IROS 2022: 7773-7780 - [c42]Ben Eisner, Harry Zhang, David Held:
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects. Robotics: Science and Systems 2022 - [c41]Zixuan Huang, Xingyu Lin, David Held:
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. Robotics: Science and Systems 2022 - [i55]Qiao Gu, Brian Okorn, David Held:
OSSID: Online Self-Supervised Instance Detection by (and for) Pose Estimation. CoRR abs/2201.07309 (2022) - [i54]Jianren Wang, Haiming Gang, Siddarth Ancha, Yi-Ting Chen, David Held:
Semi-supervised 3D Object Detection via Temporal Graph Neural Networks. CoRR abs/2202.00182 (2022) - [i53]Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held:
Self-supervised Transparent Liquid Segmentation for Robotic Pouring. CoRR abs/2203.01538 (2022) - [i52]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 abs/2203.08098 (2022) - [i51]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 abs/2203.17275 (2022) - [i50]Ben Eisner, Harry Zhang, David Held:
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects. CoRR abs/2205.04382 (2022) - [i49]Zixuan Huang, Xingyu Lin, David Held:
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. CoRR abs/2206.02881 (2022) - [i48]Carl Qi, Xingyu Lin, David Held:
Learning Closed-loop Dough Manipulation Using a Differentiable Reset Module. CoRR abs/2207.04638 (2022) - [i47]Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held:
Learning to Singulate Layers of Cloth using Tactile Feedback. CoRR abs/2207.11196 (2022) - [i46]Yufei Wang, David Held, Zackory Erickson:
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. CoRR abs/2208.05632 (2022) - [i45]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 abs/2209.05428 (2022) - [i44]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 abs/2209.08996 (2022) - [i43]Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan:
Differentiable Raycasting for Self-supervised Occupancy Forecasting. CoRR abs/2210.01917 (2022) - [i42]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 abs/2210.15751 (2022) - [i41]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 abs/2210.17217 (2022) - [i40]Wenxuan Zhou, David Held:
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. CoRR abs/2211.01500 (2022) - [i39]Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam:
Neural Grasp Distance Fields for Robot Manipulation. CoRR abs/2211.02647 (2022) - [i38]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 abs/2211.09006 (2022) - [i37]Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held:
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation. CoRR abs/2211.09325 (2022) - [i36]Brian Okorn, Chuer Pan, Martial Hebert, David Held:
Deep Projective Rotation Estimation through Relative Supervision. CoRR abs/2211.11182 (2022) - 2021
- [c40]Jianren Wang, Haiming Gang, Siddarth Ancha, Yi-Ting Chen, David Held:
Semi-supervised 3D Object Detection via Temporal Graph Neural Networks. 3DV 2021: 413-422 - [c39]Himangi Mittal, Brian Okorn, Arpit Jangid, David Held:
Self-Supervised Point Cloud Completion via Inpainting. BMVC 2021: 7 - [c38]Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held:
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. CoRL 2021: 192-202 - [c37]Xingyu Lin, Yufei Wang, Zixuan Huang, David Held:
Learning Visible Connectivity Dynamics for Cloth Smoothing. CoRL 2021: 256-266 - [c36]Harshit Sikchi, Wenxuan Zhou, David Held:
Learning Off-Policy with Online Planning. CoRL 2021: 1622-1633 - [c35]Yaadhav Raaj, Siddharth Ancha, Robert Tamburo, David Held, Srinivasa G. Narasimhan:
Exploiting & Refining Depth Distributions With Triangulation Light Curtains. CVPR 2021: 7434-7442 - [c34]Peiyun Hu, Aaron Huang, John M. Dolan, David Held, Deva Ramanan:
Safe Local Motion Planning With Self-Supervised Freespace Forecasting. CVPR 2021: 12732-12741 - [c33]Brian Okorn, Qiao Gu, Martial Hebert, David Held:
ZePHyR: Zero-shot Pose Hypothesis Rating. ICRA 2021: 14141-14148 - [c32]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 - [c31]Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held:
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. Robotics: Science and Systems 2021 - [i35]Harshit Sikchi, Wenxuan Zhou, David Held:
Lyapunov Barrier Policy Optimization. CoRR abs/2103.09230 (2021) - [i34]Brian Okorn, Qiao Gu, Martial Hebert, David Held:
ZePHyR: Zero-shot Pose Hypothesis Rating. CoRR abs/2104.13526 (2021) - [i33]Xingyu Lin, Yufei Wang, David Held:
Learning Visible Connectivity Dynamics for Cloth Smoothing. CoRR abs/2105.10389 (2021) - [i32]Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held:
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. CoRR abs/2107.04000 (2021) - [i31]Thomas Weng, Sujay Bajracharya, Yufei Wang, Khush Agrawal, David Held:
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. CoRR abs/2111.05623 (2021) - [i30]Himangi Mittal, Brian Okorn, Arpit Jangid, David Held:
Self-Supervised Point Cloud Completion via Inpainting. CoRR abs/2111.10701 (2021) - 2020
- [j4]Peiyun Hu, David Held, Deva Ramanan:
Learning to Optimally Segment Point Clouds. IEEE Robotics Autom. Lett. 5(2): 875-882 (2020) - [j3]Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held:
Multi-Modal Transfer Learning for Grasping Transparent and Specular Objects. IEEE Robotics Autom. Lett. 5(3): 3796-3803 (2020) - [c30]Xia Chen, Jianren Wang, David Held, Martial Hebert:
PanoNet3D: Combining Semantic and Geometric Understanding for LiDAR Point Cloud Detection. 3DV 2020: 753-761 - [c29]Xingyu Lin, Yufei Wang, Jake Olkin, David Held:
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. CoRL 2020: 432-448 - [c28]Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held:
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. CoRL 2020: 1030-1048 - [c27]Wenxuan Zhou, Sujay Bajracharya, David Held:
PLAS: Latent Action Space for Offline Reinforcement Learning. CoRL 2020: 1719-1735 - [c26]Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan:
What You See is What You Get: Exploiting Visibility for 3D Object Detection. CVPR 2020: 10998-11006 - [c25]Himangi Mittal, Brian Okorn, David Held:
Just Go With the Flow: Self-Supervised Scene Flow Estimation. CVPR 2020: 11174-11182 - [c24]Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held:
Active Perception Using Light Curtains for Autonomous Driving. ECCV (5) 2020: 751-766 - [c23]Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held:
Uncertainty-aware Self-supervised 3D Data Association. IROS 2020: 8125-8132 - [c22]Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held:
Cloth Region Segmentation for Robust Grasp Selection. IROS 2020: 9553-9560 - [c21]Xinshuo Weng, Jianren Wang, David Held, Kris Kitani:
3D Multi-Object Tracking: A Baseline and New Evaluation Metrics. IROS 2020: 10359-10366 - [c20]Brian Okorn, Mengyun Xu, Martial Hebert, David Held:
Learning Orientation Distributions for Object Pose Estimation. IROS 2020: 10580-10587 - [i29]Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held:
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects. CoRR abs/2006.00028 (2020) - [i28]Brian Okorn, Mengyun Xu, Martial Hebert, David Held:
Learning Orientation Distributions for Object Pose Estimation. CoRR abs/2007.01418 (2020) - [i27]Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held:
Active Perception using Light Curtains for Autonomous Driving. CoRR abs/2008.02191 (2020) - [i26]Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held:
Cloth Region Segmentation for Robust Grasp Selection. CoRR abs/2008.05626 (2020) - [i25]Xinshuo Weng, Jianren Wang, David Held, Kris Kitani:
AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics. CoRR abs/2008.08063 (2020) - [i24]Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held:
Uncertainty-aware Self-supervised 3D Data Association. CoRR abs/2008.08173 (2020) - [i23]Harshit Sikchi, Wenxuan Zhou, David Held:
Learning Off-Policy with Online Planning. CoRR abs/2008.10066 (2020) - [i22]Jianing Qian, Junyu Nan, Siddharth Ancha, Brian Okorn, David Held:
Robust Instance Tracking via Uncertainty Flow. CoRR abs/2010.04367 (2020) - [i21]Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held:
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. CoRR abs/2011.06777 (2020) - [i20]Wenxuan Zhou, Sujay Bajracharya, David Held:
PLAS: Latent Action Space for Offline Reinforcement Learning. CoRR abs/2011.07213 (2020) - [i19]Xingyu Lin, Yufei Wang, Jake Olkin, David Held:
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. CoRR abs/2011.07215 (2020) - [i18]Xia Chen, Jianren Wang, David Held, Martial Hebert:
PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection. CoRR abs/2012.09418 (2020)
2010 – 2019
- 2019
- [j2]Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan:
Enabling robots to communicate their objectives. Auton. Robots 43(2): 309-326 (2019) - [c19]Siddharth Ancha, Junyu Nan, David Held:
Combining Deep Learning and Verification for Precise Object Instance Detection. CoRL 2019: 122-141 - [c18]Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held:
Adaptive Variance for Changing Sparse-Reward Environments. ICRA 2019: 3210-3216 - [c17]Xingyu Lin, Harjatin Singh Baweja, George Kantor, David Held:
Adaptive Auxiliary Task Weighting for Reinforcement Learning. NeurIPS 2019: 4773-4784 - [i17]Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held:
Adaptive Variance for Changing Sparse-Reward Environments. CoRR abs/1903.06309 (2019) - [i16]Xingyu Lin, Harjatin Singh Baweja, David Held:
Reinforcement Learning without Ground-Truth State. CoRR abs/1905.07866 (2019) - [i15]Siddhant Jain, Sowmya Munukutla, David Held:
Few-Shot Point Cloud Region Annotation with Human in the Loop. CoRR abs/1906.04409 (2019) - [i14]Peng Yin, Jianing Qian, Yibo Cao, David Held, Howie Choset:
FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans. CoRR abs/1912.00096 (2019) - [i13]Himangi Mittal, Brian Okorn, David Held:
Just Go with the Flow: Self-Supervised Scene Flow Estimation. CoRR abs/1912.00497 (2019) - [i12]Peiyun Hu, David Held, Deva Ramanan:
Learning to Optimally Segment Point Clouds. CoRR abs/1912.04976 (2019) - [i11]Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan:
What You See is What You Get: Exploiting Visibility for 3D Object Detection. CoRR abs/1912.04986 (2019) - [i10]Siddharth Ancha, Junyu Nan, David Held:
Combining Deep Learning and Verification for Precise Object Instance Detection. CoRR abs/1912.12270 (2019) - 2018
- [c16]Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert:
PCN: Point Completion Network. 3DV 2018: 728-737 - [c15]Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel:
Automatic Goal Generation for Reinforcement Learning Agents. ICML 2018: 1514-1523 - [i9]Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert:
PCN: Point Completion Network. CoRR abs/1808.00671 (2018) - [i8]Wentao Yuan, David Held, Christoph Mertz, Martial Hebert:
Iterative Transformer Network for 3D Point Cloud. CoRR abs/1811.11209 (2018) - 2017
- [c14]Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel:
Reverse Curriculum Generation for Reinforcement Learning. CoRL 2017: 482-495 - [c13]Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel:
Constrained Policy Optimization. ICML 2017: 22-31 - [c12]David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel:
Probabilistically safe policy transfer. ICRA 2017: 5798-5805 - [c11]Ignasi Clavera, David Held, Pieter Abbeel:
Policy transfer via modularity and reward guiding. IROS 2017: 1537-1544 - [c10]Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan:
Enabling Robots to Communicate Their Objectives. Robotics: Science and Systems 2017 - [i7]Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan:
Enabling Robots to Communicate their Objectives. CoRR abs/1702.03465 (2017) - [i6]David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel:
Probabilistically Safe Policy Transfer. CoRR abs/1705.05394 (2017) - [i5]David Held, Xinyang Geng, Carlos Florensa, Pieter Abbeel:
Automatic Goal Generation for Reinforcement Learning Agents. CoRR abs/1705.06366 (2017) - [i4]Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel:
Constrained Policy Optimization. CoRR abs/1705.10528 (2017) - [i3]Carlos Florensa, David Held, Markus Wulfmeier, Pieter Abbeel:
Reverse Curriculum Generation for Reinforcement Learning. CoRR abs/1707.05300 (2017) - 2016
- [j1]David Held, Jesse Levinson, Sebastian Thrun, Silvio Savarese:
Robust real-time tracking combining 3D shape, color, and motion. Int. J. Robotics Res. 35(1-3): 30-49 (2016) - [c9]David Held, Sebastian Thrun, Silvio Savarese:
Learning to Track at 100 FPS with Deep Regression Networks. ECCV (1) 2016: 749-765 - [c8]David Held, Sebastian Thrun, Silvio Savarese:
Robust single-view instance recognition. ICRA 2016: 2152-2159 - [c7]David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, Silvio Savarese:
A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues. Robotics: Science and Systems 2016 - [i2]David Held, Sebastian Thrun, Silvio Savarese:
Learning to Track at 100 FPS with Deep Regression Networks. CoRR abs/1604.01802 (2016) - 2015
- [i1]David Held, Sebastian Thrun, Silvio Savarese:
Deep Learning for Single-View Instance Recognition. CoRR abs/1507.08286 (2015) - 2014
- [c6]David Held, Jesse Levinson, Sebastian Thrun, Silvio Savarese:
Combining 3D Shape, Color, and Motion for Robust Anytime Tracking. Robotics: Science and Systems 2014 - 2013
- [c5]David Held, Jesse Levinson, Sebastian Thrun:
Precision tracking with sparse 3D and dense color 2D data. ICRA 2013: 1138-1145 - 2012
- [c4]David Held, Jesse Levinson, Sebastian Thrun:
A probabilistic framework for car detection in images using context and scale. ICRA 2012: 1628-1634 - [c3]David Held, Yoram Yekutieli, Tamar Flash:
Characterizing the stiffness of a multi-segment flexible arm during motion. ICRA 2012: 3825-3832 - 2011
- [c2]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:
Towards fully autonomous driving: Systems and algorithms. Intelligent Vehicles Symposium 2011: 163-168
2000 – 2009
- 2004
- [c1]Zhipu Jin, Stephan Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray:
MVWT-II: the second generation Caltech Multi-Vehicle Wireless Testbed. ACC 2004: 5321-5326
Coauthor Index
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