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

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang*, Gautham Narayan Narasimhan*, Xingyu Lin, Brian Okorn, David Held
Conference on Robot Learning (CoRL), 2020

PLAS: Latent Action Space for Offline Reinforcement Learning
Wenxuan Zhou, Sujay Bajracharya, David Held
Conference on Robot Learning (CoRL), 2020 - Plenary talk (Selection rate 4.1%)

PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection
Xia Chen, Jianren Wang, David Held, Martial Hebert
International Conference on 3D Vision (3DV), 2020

Active Perception using Light Curtains for Autonomous Driving
Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa Narasimhan, David Held
European Conference on Computer Vision (ECCV), 2020 - Spotlight (Selection rate 5.3%)

Cloth Region Segmentation for Robust Grasp Selection
Jianing Qian*, Thomas Weng*, Luxin Zhang, Brian Okorn, David Held
International Conference on Intelligent Robots and Systems (IROS), 2020

Uncertainty-aware Self-supervised 3D Data Association
Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held
International Conference on Intelligent Robots and Systems (IROS), 2020

Learning Orientation Distributions for Object Pose Estimation
Brian Okorn, Mengyun Xu, Martial Hebert, David Held
International Conference on Intelligent Robots and Systems (IROS), 2020

3D Multi-Object Tracking: A Baseline and New Evaluation Metrics
Xinshuo Weng, Jianren Wang, David Held, Kris Kitani
International Conference on Intelligent Robots and Systems (IROS), 2020

Just Go with the Flow: Self-Supervised Scene Flow Estimation
Himangi Mittal, Brian Okorn, David Held
Conference on Computer Vision and Pattern Recognition (CVPR), 2020 - Oral (Selection rate 5.7%)

What You See is What You Get: Exploiting Visibility for 3D Object Detection
Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan
Conference on Computer Vision and Pattern Recognition (CVPR), 2020 - Oral (Selection rate 5.7%)

Multi-modal Transfer Learning for Grasping Transparent and Specular Objects
Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held
Robotics and Automation Letters (RA-L) with presentation at the International Conference of Robotics and Automation (ICRA), 2020

Learning to Optimally Segment Point Clouds
Peiyun Hu, David Held*, Deva Ramanan*
Robotics and Automation Letters (RA-L) with presentation at the International Conference of Robotics and Automation (ICRA), 2020

Combining Deep Learning and Verification for Precise Object Instance Detection
Siddharth Ancha*, Junyu Nan*, David Held
Conference on Robot Learning (CoRL), 2019

Adaptive Auxiliary Task Weighting for Reinforcement Learning
Xingyu Lin*, Harjatin Baweja*, George Kantor, David Held
Neural Information Processing Systems (NeurIPS), 2019

Adaptive Variance for Changing Sparse-Reward Environments
Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held
International Conference of Robotics and Automation (ICRA), 2019

PCN: Point Completion Network - Best Paper Honorable Mention
Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert
International Conference on 3D Vision (3DV), 2018

Automatic Goal Generation for Reinforcement Learning Agents
Carlos Florensa*, David Held*, Xinyang Geng*, Pieter Abbeel
International Conference on Machine Learning (ICML), 2018

Enabling Robots to Communicate their Objectives
Sandy Han Huang, David Held, Pieter Abbeel, Anca D. Dragan
Autonomous Robotics (AURO), 2018

Reverse Curriculum Generation for Reinforcement Learning
Carlos Florensa, David Held, Markus Wulfmeier, Pieter Abbeel
Conference on Robot Learning (CoRL), 2017

Policy Transfer via Modularity
Ignasi Clavera*, David Held*, Pieter Abbeel
International Conference on Intelligent Robots and Systems (IROS), 2017

Constrained Policy Optimization
Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel
International Conference on Machine Learning (ICML), 2017

Enabling Robots to Communicate their Objectives
Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan
Robotics: Science and Systems (RSS), 2017

Probabilistically Safe Policy Transfer
David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel
International Conference on Robotics and Automation (ICRA), 2017

Learning to Track at 100 FPS with Deep Regression Networks
David Held, Sebastian Thrun, Silvio Savarese
European Conference on Computer Vision (ECCV), 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
Robotics: Science and Systems (RSS), 2016
[Project Page]

Robust Single-View Instance Recognition
David Held, Sebastian Thrun, Silvio Savarese
International Conference on Robotics and Automation (ICRA), 2016
Robust Real-Time Tracking Combining 3D Shape, Color, and Motion
David Held, Jesse Levinson, Sebastian Thrun, Silvio Savarese
International Journal of Robotics Research (IJRR), 2016

Combining 3D Shape, Color, and Motion for Robust Anytime Tracking
Robotics: Science and Systems (RSS), 2014
Precision Tracking with Sparse 3D and Dense Color 2D Data - Best Vision Paper Finalist
International Conference on Robotics and Automation (ICRA), 2013
A Probabilistic Framework for Car Detection in Images using Context and Scale
International Conference on Robotics and Automation (ICRA), 2012
  • Older Work
  • Characterizing Stiffness of Multi-Segment Flexible Arm Movements
    David Held, Yoram Yekutieli, Tamar Flash
    International Conference on Robotics and Automation (ICRA), 2012
    Towards fully autonomous driving: Systems and algorithms
    Jesse Levinson, Jake Askeland, Jan Becker, Jennifer Dolson, David Held, Soeren Kammel, J. Zico Kolter, Dirk Langer, Oliver Pink, Vaughan Pratt, Michael Sokolsky, Ganymed Stanek, David Stavens, Alex Teichman, Moritz Werling, and Sebastian Thrun
    Intelligent Vehicles Symposium (IV), 2011.
    MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed
    Zhipu Jinh, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray
    American Control Conference (ACC), 2004
    Surface waves and spatial localization in vibrotactile displays
    Haptics Symposium, 2010
    Characterization of Tactors Used in Vibrotactile Displays
    Journal of Computing and Information Science in Engineering, 2008
    Preprints
    Reinforcement Learning without Ground-Truth State
    Xingyu Lin, Harjatin Singh Baweja, David Held

    Iterative Transformer Network for 3D Point Cloud
    Wentao Yuan, David Held, Christoph Mertz, Martial Hebert