David Held

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation RSS 2025 Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions CoRL 2025 Geometric Red-Teaming for Robotic Manipulation CoRL 2025 Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online CoRL 2025 Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement CoRL 2025 Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks ICLR 2024 DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning NeurIPS 2024 FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation CoRL 2024 HACMan++: Spatially-Grounded Motion Primitives for Manipulation RSS 2024 Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance CoRL 2024 Non-rigid Relative Placement through 3D Dense Diffusion CoRL 2024 RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback ICML 2024 RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation ICML 2024 Visual Manipulation with Legs CoRL 2024 Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits RSS 2023 FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection CoRL 2023 HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation CoRL 2023 One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments RSS 2023 Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting CVPR 2023 Deep Projective Rotation Estimation through Relative Supervision CoRL 2022 Differentiable Raycasting for Self-Supervised Occupancy Forecasting ECCV 2022 DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools ICLR 2022 FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects RSS 2022 Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity CoRL 2022 Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation RSS 2022 Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation CoRL 2022 TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation CoRL 2022 ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds CoRL 2022 Active Safety Envelopes using Light Curtains with Probabilistic Guarantees RSS 2021 Exploiting & Refining Depth Distributions With Triangulation Light Curtains CVPR 2021 FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy CoRL 2021 Learning Off-Policy with Online Planning CoRL 2021 Learning Visible Connectivity Dynamics for Cloth Smoothing CoRL 2021 Safe Local Motion Planning With Self-Supervised Freespace Forecasting CVPR 2021 Active Perception using Light Curtains for Autonomous Driving ECCV 2020 Just Go With the Flow: Self-Supervised Scene Flow Estimation CVPR 2020 PLAS: Latent Action Space for Offline Reinforcement Learning CoRL 2020 ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning CoRL 2020 SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation CoRL 2020 What You See is What You Get: Exploiting Visibility for 3D Object Detection CVPR 2020 Adaptive Auxiliary Task Weighting for Reinforcement Learning NeurIPS 2019 Combining Deep Learning and Verification for Precise Object Instance Detection CoRL 2019 Automatic Goal Generation for Reinforcement Learning Agents ICML 2018 Constrained Policy Optimization ICML 2017 Enabling Robots to Communicate Their Objectives RSS 2017 Reverse Curriculum Generation for Reinforcement Learning CoRL 2017 A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues RSS 2016 Combining 3D Shape, Color, and Motion for Robust Anytime Tracking RSS 2014