| 2025 | ICRA | SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting. | Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandn, David Held, George Kantor, Abhisesh Silwal |
| 2025 | IROS | Real-World Offline Reinforcement Learning from Vision Language Model Feedback. | Sreyas Venkataraman, Yufei Wang, Ziyu Wang, Navin Sriram Ravie, Zackory Erickson, David Held |
| 2024 | CoRL | Modeling Drivers' Situational Awareness from Eye Gaze for Driving Assistance. | Abhijat Biswas, Pranay Gupta, Shreeya Khurana, David Held, Henny Admoni |
| 2024 | CoRL | Non-rigid Relative Placement through 3D Dense Diffusion. | Eric Cai, Octavian Donca, Ben Eisner, David Held |
| 2024 | CoRL | Visual Manipulation with Legs. | Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang |
| 2024 | CoRL | FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation. | Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held |
| 2024 | ICLR | Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. | Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerk, Jonathan Scholz, David Held |
| 2024 | ICML | 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 |
| 2024 | ICML | 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 |
| 2024 | IROS | Learning Generalizable Tool-use Skills through Trajectory Generation. | Carl Qi, Yilin Wu, Lifan Yu, Haoyue Liu, Bowen Jiang, Xingyu Lin, David Held |
| 2024 | ICRA | Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. | Jenny Wang, Octavian Donca, David Held |
| 2024 | ICRA | Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. | Fan Yang, Wenxuan Zhou, Zuxin Liu, Ding Zhao, David Held |
| 2023 | CoRL | FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection. | Harry Zhang, Ben Eisner, David Held |
| 2023 | CoRL | HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. | Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held |
| 2023 | CVPR | Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting. | Tarasha Khurana, Peiyun Hu, David Held, Deva Ramanan |
| 2023 | ICRA | AutoBag: Learning to Open Plastic Bags and Insert Objects. | Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg |
| 2023 | ICRA | Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. | Zixuan Huang, Xingyu Lin, David Held |
| 2023 | ICRA | EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics. | Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic |
| 2023 | ICRA | Elastic Context: Encoding Elasticity for Data-driven Models of Textiles Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. | Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic |
| 2023 | IROS | Bagging by Learning to Singulate Layers Using Interactive Perception. | Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg |
| 2023 | ICRA | Neural Grasp Distance Fields for Robot Manipulation. | Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam |
| 2022 | CoRL | 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 |
| 2022 | CoRL | Deep Projective Rotation Estimation through Relative Supervision. | Brian Okorn, Chuer Pan, Martial Hebert, David Held |
| 2022 | CoRL | TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation. | Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held |
| 2022 | CoRL | 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 |
| 2022 | CoRL | Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. | Wenxuan Zhou, David Held |
| 2022 | ECCV | Differentiable Raycasting for Self-Supervised Occupancy Forecasting. | Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan |
| 2022 | ICLR | 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 |
| 2022 | ICRA | Self-supervised Transparent Liquid Segmentation for Robotic Pouring. | Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held |
| 2022 | IROS | Learning to Singulate Layers of Cloth using Tactile Feedback. | Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Fatma Zeynep Temel, David Held |
| 2021 | BMVC | Self-Supervised Point Cloud Completion via Inpainting. | Himangi Mittal, Brian Okorn, Arpit Jangid, David Held |
| 2021 | CoRL | Learning Visible Connectivity Dynamics for Cloth Smoothing. | Xingyu Lin, Yufei Wang, Zixuan Huang, David Held |
| 2021 | CoRL | Learning Off-Policy with Online Planning. | Harshit Sikchi, Wenxuan Zhou, David Held |
| 2021 | CoRL | FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. | Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held |
| 2021 | CVPR | Safe Local Motion Planning With Self-Supervised Freespace Forecasting. | Peiyun Hu, Aaron Huang, John M. Dolan, David Held, Deva Ramanan |
| 2021 | CVPR | Exploiting & Refining Depth Distributions With Triangulation Light Curtains. | Yaadhav Raaj, Siddharth Ancha, Robert Tamburo, David Held, Srinivasa G. Narasimhan |
| 2021 | ICRA | ZePHyR: Zero-shot Pose Hypothesis Rating. | Brian Okorn, Qiao Gu, Martial Hebert, David Held |
| 2020 | CoRL | SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. | Xingyu Lin, Yufei Wang, Jake Olkin, David Held |
| 2020 | CoRL | ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. | Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held |
| 2020 | CoRL | PLAS: Latent Action Space for Offline Reinforcement Learning. | Wenxuan Zhou, Sujay Bajracharya, David Held |
| 2020 | CVPR | What You See is What You Get: Exploiting Visibility for 3D Object Detection. | Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan |
| 2020 | CVPR | Just Go With the Flow: Self-Supervised Scene Flow Estimation. | Himangi Mittal, Brian Okorn, David Held |
| 2020 | ECCV | Active Perception Using Light Curtains for Autonomous Driving. | Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held |
| 2020 | IROS | Learning Orientation Distributions for Object Pose Estimation. | Brian Okorn, Mengyun Xu, Martial Hebert, David Held |
| 2020 | IROS | Cloth Region Segmentation for Robust Grasp Selection. | Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held |
| 2020 | IROS | Uncertainty-aware Self-supervised 3D Data Association. | Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held |
| 2020 | IROS | 3D Multi-Object Tracking: A Baseline and New Evaluation Metrics. | Xinshuo Weng, Jianren Wang, David Held, Kris Kitani |
| 2019 | CoRL | Combining Deep Learning and Verification for Precise Object Instance Detection. | Siddharth Ancha, Junyu Nan, David Held |
| 2019 | ICRA | Adaptive Variance for Changing Sparse-Reward Environments. | Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held |
| 2018 | ICML | Automatic Goal Generation for Reinforcement Learning Agents. | Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel |
| 2017 | CoRL | Reverse Curriculum Generation for Reinforcement Learning. | Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel |
| 2017 | ICML | Constrained Policy Optimization. | Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel |
| 2017 | ICRA | Probabilistically safe policy transfer. | David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel |
| 2017 | IROS | Policy transfer via modularity and reward guiding. | Ignasi Clavera, David Held, Pieter Abbeel |
| 2016 | ECCV | Learning to Track at 100 FPS with Deep Regression Networks. | David Held, Sebastian Thrun, Silvio Savarese |
| 2016 | ICRA | Robust single-view instance recognition. | David Held, Sebastian Thrun, Silvio Savarese |
| 2013 | ICRA | Precision tracking with sparse 3D and dense color 2D data. | David Held, Jesse Levinson, Sebastian Thrun |
| 2012 | ICRA | A probabilistic framework for car detection in images using context and scale. | David Held, Jesse Levinson, Sebastian Thrun |
| 2012 | ICRA | Characterizing the stiffness of a multi-segment flexible arm during motion. | David Held, Yoram Yekutieli, Tamar Flash |