MVWT-II: the second generation Caltech Multi-Vehicle Wireless Testbed. - Zhipu Jin; Stephan Waydo; Elisabeth B. Wildanger; Michael Lammers; Hans Scholze; Peter Foley; David Held; Richard M. Murray (ACC, 2004)

Towards fully autonomous driving: Systems and algorithms. - 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; et al. (Intelligent Vehicles Symposium, 2011)

A probabilistic framework for car detection in images using context and scale. - David Held; Jesse Levinson; Sebastian Thrun (ICRA, 2012)

Characterizing the stiffness of a multi-segment flexible arm during motion. - David Held; Yoram Yekutieli; Tamar Flash (ICRA, 2012)

Precision tracking with sparse 3D and dense color 2D data. - David Held; Jesse Levinson; Sebastian Thrun (ICRA, 2013)

Combining 3D Shape, Color, and Motion for Robust Anytime Tracking. - David Held; Jesse Levinson; Sebastian Thrun; Silvio Savarese (Robotics: Science and Systems, 2014)

Deep Learning for Single-View Instance Recognition. - David Held; Sebastian Thrun; Silvio Savarese (CoRR, 2015)

Learning to Track at 100 FPS with Deep Regression Networks. - David Held; Sebastian Thrun; Silvio Savarese (ECCV (1), 2016)

Robust single-view instance recognition. - David Held; Sebastian Thrun; Silvio Savarese (ICRA, 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, 2016)

Robust real-time tracking combining 3D shape, color, and motion. - David Held; Jesse Levinson; Sebastian Thrun; Silvio Savarese (Int. J. Robotics Res., 2016)

Reverse Curriculum Generation for Reinforcement Learning. - Carlos Florensa; David Held; Markus Wulfmeier; Michael Zhang; Pieter Abbeel (CoRL, 2017)

Constrained Policy Optimization. - Joshua Achiam; David Held; Aviv Tamar; Pieter Abbeel (ICML, 2017)

Probabilistically safe policy transfer. - David Held; Zoe McCarthy; Michael Zhang; Fred Shentu; Pieter Abbeel (ICRA, 2017)

Policy transfer via modularity and reward guiding. - Ignasi Clavera; David Held; Pieter Abbeel (IROS, 2017)

Reverse Curriculum Generation for Reinforcement Learning. - Carlos Florensa; David Held; Markus Wulfmeier; Pieter Abbeel (CoRR, 2017)

PCN: Point Completion Network. - Wentao Yuan; Tejas Khot; David Held; Christoph Mertz; Martial Hebert (3DV, 2018)

Automatic Goal Generation for Reinforcement Learning Agents. - Carlos Florensa; David Held; Xinyang Geng; Pieter Abbeel (ICML, 2018)

Iterative Transformer Network for 3D Point Cloud. - Wentao Yuan; David Held; Christoph Mertz; Martial Hebert (CoRR, 2018)

Combining Deep Learning and Verification for Precise Object Instance Detection. - Siddharth Ancha; Junyu Nan; David Held (CoRL, 2019)

Adaptive Variance for Changing Sparse-Reward Environments. - Xingyu Lin; Pengsheng Guo; Carlos Florensa; David Held (ICRA, 2019)

Adaptive Auxiliary Task Weighting for Reinforcement Learning. - Xingyu Lin; Harjatin Singh Baweja; George Kantor; David Held (NeurIPS, 2019)

Enabling robots to communicate their objectives. - Sandy H. Huang; David Held; Pieter Abbeel; Anca D. Dragan (Auton. Robots, 2019)

Reinforcement Learning without Ground-Truth State. - Xingyu Lin; Harjatin Singh Baweja; David Held (CoRR, 2019)

Few-Shot Point Cloud Region Annotation with Human in the Loop. - Siddhant Jain; Sowmya Munukutla; David Held (CoRR, 2019)

FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans. - Peng Yin 001; Jianing Qian; Yibo Cao; David Held; Howie Choset (CoRR, 2019)

PanoNet3D: Combining Semantic and Geometric Understanding for LiDAR Point Cloud Detection. - Xia Chen; Jianren Wang; David Held; Martial Hebert (3DV, 2020)

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. - Xingyu Lin; Yufei Wang 007; Jake Olkin; David Held (CoRL, 2020)

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. - Yufei Wang 007; Gautham Narayan Narasimhan; Xingyu Lin; Brian Okorn; David Held (CoRL, 2020)

PLAS: Latent Action Space for Offline Reinforcement Learning. - Wenxuan Zhou; Sujay Bajracharya; David Held (CoRL, 2020)

What You See is What You Get: Exploiting Visibility for 3D Object Detection. - Peiyun Hu; Jason Ziglar; David Held; Deva Ramanan (CVPR, 2020)

Just Go With the Flow: Self-Supervised Scene Flow Estimation. - Himangi Mittal; Brian Okorn; David Held (CVPR, 2020)

Active Perception Using Light Curtains for Autonomous Driving. - Siddharth Ancha; Yaadhav Raaj; Peiyun Hu; Srinivasa G. Narasimhan; David Held (ECCV (5), 2020)

Learning Orientation Distributions for Object Pose Estimation. - Brian Okorn; Mengyun Xu; Martial Hebert; David Held (IROS, 2020)

Cloth Region Segmentation for Robust Grasp Selection. - Jianing Qian; Thomas Weng; Luxin Zhang; Brian Okorn; David Held (IROS, 2020)

Uncertainty-aware Self-supervised 3D Data Association. - Jianren Wang; Siddharth Ancha; Yi-Ting Chen 001; David Held (IROS, 2020)

3D Multi-Object Tracking: A Baseline and New Evaluation Metrics. - Xinshuo Weng; Jianren Wang; David Held; Kris Kitani (IROS, 2020)

AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics. - Xinshuo Weng; Jianren Wang; David Held; Kris Kitani (CoRR, 2020)

Robust Instance Tracking via Uncertainty Flow. - Jianing Qian; Junyu Nan; Siddharth Ancha; Brian Okorn; David Held (CoRR, 2020)

PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection. - Xia Chen; Jianren Wang; David Held; Martial Hebert (CoRR, 2020)

Learning to Optimally Segment Point Clouds. - Peiyun Hu; David Held; Deva Ramanan (IEEE Robotics Autom. Lett., 2020)

Multi-Modal Transfer Learning for Grasping Transparent and Specular Objects. - Thomas Weng; Amith Pallankize; Yimin Tang; Oliver Kroemer; David Held (IEEE Robotics Autom. Lett., 2020)

Semi-supervised 3D Object Detection via Temporal Graph Neural Networks. - Jianren Wang; Haiming Gang; Siddarth Ancha; Yi-Ting Chen 001; David Held (3DV, 2021)

Self-Supervised Point Cloud Completion via Inpainting. - Himangi Mittal; Brian Okorn; Arpit Jangid; David Held (BMVC, 2021)

Learning Visible Connectivity Dynamics for Cloth Smoothing. - Xingyu Lin; Yufei Wang 007; Zixuan Huang; David Held (CoRL, 2021)

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

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. - Thomas Weng; Sujay Man Bajracharya; Yufei Wang 007; Khush Agrawal; David Held (CoRL, 2021)

Safe Local Motion Planning With Self-Supervised Freespace Forecasting. - Peiyun Hu; Aaron Huang; John M. Dolan; David Held; Deva Ramanan (CVPR, 2021)

Exploiting & Refining Depth Distributions With Triangulation Light Curtains. - Yaadhav Raaj; Siddharth Ancha; Robert Tamburo; David Held; Srinivasa G. Narasimhan (CVPR, 2021)

ZePHyR: Zero-shot Pose Hypothesis Rating. - Brian Okorn; Qiao Gu; Martial Hebert; David Held (ICRA, 2021)

RB2: Robotic Manipulation Benchmarking with a Twist. - Sudeep Dasari; Jianren Wang; Joyce Hong; Shikhar Bahl; Yixin Lin; Austin S. Wang; Abitha Thankaraj; Karanbir Chahal; Berk Çalli; Saurabh Gupta 001; David Held; Lerrel Pinto; et al. (NeurIPS Datasets and Benchmarks, 2021)

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. - Siddharth Ancha; Gaurav Pathak; Srinivasa G. Narasimhan; David Held (Robotics: Science and Systems, 2021)

Lyapunov Barrier Policy Optimization. - Harshit Sikchi; Wenxuan Zhou; David Held (CoRR, 2021)

Learning Visible Connectivity Dynamics for Cloth Smoothing. - Xingyu Lin; Yufei Wang 007; David Held (CoRR, 2021)

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 001; David Held (CoRL, 2022)

Deep Projective Rotation Estimation through Relative Supervision. - Brian Okorn; Chuer Pan; Martial Hebert; 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 007; Sarthak J. Shetty; Edward Yao Li; Zackory Erickson; David Held (CoRL, 2022)

Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity. - Wenxuan Zhou; David Held (CoRL, 2022)

Differentiable Raycasting for Self-Supervised Occupancy Forecasting. - Tarasha Khurana; Peiyun Hu; Achal Dave; Jason Ziglar; David Held; Deva Ramanan (ECCV (38), 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 001 (ICLR, 2022)

Self-supervised Transparent Liquid Segmentation for Robotic Pouring. - Gautham Narayan Narasimhan; Kai Zhang; Ben Eisner; Xingyu Lin; David Held (ICRA, 2022)

Learning to Singulate Layers of Cloth using Tactile Feedback. - Sashank Tirumala; Thomas Weng; Daniel Seita; Oliver Kroemer; Fatma Zeynep Temel; David Held (IROS, 2022)

FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects. - Ben Eisner; Harry Zhang; David Held (Robotics: Science and Systems, 2022)

Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. - Zixuan Huang; Xingyu Lin; David Held (Robotics: Science and Systems, 2022)

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; Alexander Kravberg; Yufei Wang 007; David Held; Zackory Erickson; Danica Kragic (CoRR, 2022)

OSSID: Online Self-Supervised Instance Detection by (And For) Pose Estimation. - Qiao Gu; Brian Okorn; David Held (IEEE Robotics Autom. Lett., 2022)

Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module. - Carl Qi; Xingyu Lin; David Held (IEEE Robotics Autom. Lett., 2022)

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. - Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2022)

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 001; David Held (CoRL, 2023)

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

AutoBag: Learning to Open Plastic Bags and Insert Objects. - Lawrence Yunliang Chen; Baiyu Shi; Daniel Seita; Richard Cheng; Thomas Kollar; David Held; Ken Goldberg (ICRA, 2023)

Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. - Zixuan Huang; Xingyu Lin; David Held (ICRA, 2023)

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 (ICRA, 2023)

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 007; David Held; Zackory Erickson; Danica Kragic (ICRA, 2023)

Neural Grasp Distance Fields for Robot Manipulation. - Thomas Weng; David Held; Franziska Meier; Mustafa Mukadam (ICRA, 2023)

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 (IROS, 2023)

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. - Yufei Wang 007; Zhanyi Sun; Zackory Erickson; David Held (Robotics: Science and Systems, 2023)

Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. - Wenxuan Zhou; Bowen Jiang; Fan Yang; Chris Paxton 001; David Held (CoRR, 2023)

Learning Generalizable Tool-use Skills through Trajectory Generation. - Carl Qi; Sarthak J. Shetty; Xingyu Lin; David Held (CoRR, 2023)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. - Yufei Wang 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Zackory Erickson; David Held; Chuang Gan 001 (CoRR, 2023)

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 (CoRL, 2024)

Visual Manipulation with Legs. - Xialin He; Chengjing Yuan; Wenxuan Zhou; Ruihan Yang; David Held; Xiaolong Wang 004 (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)

Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks. - Ben Eisner; Yi Yang 007; Todor Davchev; Mel Vecerík; Jonathan Scholz; David Held (ICLR, 2024)

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback. - Yufei Wang 007; 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 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Katerina Fragkiadaki; Zackory Erickson; David Held; Chuang Gan 001 (ICML, 2024)

Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation. - Jenny Wang; Octavian Donca; David Held (ICRA, 2024)

Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. - Fan Yang; Wenxuan Zhou; Zuxin Liu; Ding Zhao; David Held (ICRA, 2024)

Learning Generalizable Tool-use Skills through Trajectory Generation. - Carl Qi; Yilin Wu 003; Lifan Yu; Haoyue Liu; Bowen Jiang; Xingyu Lin; David Held (IROS, 2024)

DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Ziyu Wang; Yufei Wang 007; Zackory Erickson; David Held (NeurIPS, 2024)

HACMan++: Spatially-Grounded Motion Primitives for Manipulation. - Bowen Jiang; Yilin Wu 003; Wenxuan Zhou; Chris Paxton 001; David Held (Robotics: Science and Systems, 2024)

On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks. - Mohammad Nomaan Qureshi; Ben Eisner; David Held (CoRR, 2024)

DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Yufei Wang 007; Zackory Erickson; David Held (CoRR, 2024)

SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting. - Mohammad Nomaan Qureshi; Sparsh Garg; Francisco Yandún; David Held; George Kantor; Abhisesh Silwal (CoRR, 2024)

Real-World Offline Reinforcement Learning from Vision Language Model Feedback. - Sreyas Venkataraman; Yufei Wang 007; Ziyu Wang; Zackory Erickson; David Held (CoRR, 2024)

Object Importance Estimation Using Counterfactual Reasoning for Intelligent Driving. - Pranay Gupta; Abhijat Biswas; Henny Admoni; David Held (IEEE Robotics Autom. Lett., 2024)

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. - Zhanyi Sun; Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2024)

Active velocity estimation using light curtains via self-supervised multi-armed bandits. - Siddharth Ancha; Gaurav Pathak; Ji Zhang; Srinivasa G. Narasimhan; David Held (Auton. Robots, 2024)

Unfolding the Literature: A Review of Robotic Cloth Manipulation. - Alberta Longhini; Yufei Wang 007; Irene Garcia-Camacho; David Blanco-Mulero; Marco Moletta; Michael C. Welle; Guillem Alenyà; Hang Yin 001; Zackory Erickson; David Held; Júlia Borràs 001; Danica Kragic (Annu. Rev. Control. Robotics Auton. Syst., 2025)

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation. - Yufei Wang 007; Ziyu Wang; Mino Nakura; Pratik Bhowal; Chia-Liang Kuo; Yi-Ting Chen; Zackory Erickson; David Held (CoRR, 2025)