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Robust Instance Tracking via Uncertainty Flow

Oct 09, 2020
Jianing Qian, Junyu Nan, Siddharth Ancha, Brian Okorn, David Held


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Learning Off-Policy with Online Planning

Aug 23, 2020
Harshit Sikchi, Wenxuan Zhou, David Held

* Presented in ICML BIG workshop, July 18 2020 

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Uncertainty-aware Self-supervised 3D Data Association

Aug 18, 2020
Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held

* 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems 

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AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics

Aug 18, 2020
Xinshuo Weng, Jianren Wang, David Held, Kris Kitani

* Extended abstract that will be presented at ECCV 2020 Workshops. Project website: http://www.xinshuoweng.com/projects/AB3DMOT 

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Cloth Region Segmentation for Robust Grasp Selection

Aug 13, 2020
Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held

* Accepted at IROS 2020. The first two authors contributed equally and are listed in alphabetical order 

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Active Perception using Light Curtains for Autonomous Driving

Aug 05, 2020
Siddharth Ancha, Yaadhav Raaj, Peiyun Hu, Srinivasa G. Narasimhan, David Held

* Published at the European Conference on Computer Vision (ECCV), 2020 

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Learning Orientation Distributions for Object Pose Estimation

Jul 02, 2020
Brian Okorn, Mengyun Xu, Martial Hebert, David Held


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Multi-modal Transfer Learning for Grasping Transparent and Specular Objects

May 29, 2020
Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held

* IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 5, NO. 3, JULY 2020. 3791-3798 
* RA-L with presentation at ICRA 2020 

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Combining Deep Learning and Verification for Precise Object Instance Detection

Dec 27, 2019
Siddharth Ancha, Junyu Nan, David Held

* Conference on Robot Learning (CoRL), 2019 
* 9 pages main paper, 2 pages references, 10 pages supplementary material 

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What You See is What You Get: Exploiting Visibility for 3D Object Detection

Dec 10, 2019
Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan


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Learning to Optimally Segment Point Clouds

Dec 10, 2019
Peiyun Hu, David Held, Deva Ramanan


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Just Go with the Flow: Self-Supervised Scene Flow Estimation

Dec 01, 2019
Himangi Mittal, Brian Okorn, David Held


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FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans

Nov 29, 2019
Peng Yin, Jianing Qian, Yibo Cao, David Held, Howie Choset


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Few-Shot Point Cloud Region Annotation with Human in the Loop

Jun 11, 2019
Siddhant Jain, Sowmya Munukutla, David Held

* presented at 2019 ICML Workshop on Human in the Loop Learning (HILL 2019), Long Beach, USA 

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Reinforcement Learning without Ground-Truth State

May 20, 2019
Xingyu Lin, Harjatin Singh Baweja, David Held


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Adaptive Variance for Changing Sparse-Reward Environments

Mar 15, 2019
Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held

* Accepted as a conference at International Conference on Robotics and Automation(ICRA) 2019 

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Iterative Transformer Network for 3D Point Cloud

Nov 27, 2018
Wentao Yuan, David Held, Christoph Mertz, Martial Hebert


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Enabling Robots to Communicate their Objectives

Oct 18, 2018
Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan

* RSS 2017 

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PCN: Point Completion Network

Aug 05, 2018
Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert

* Accepted to 3DV 2018 as an oral presentation. Code and data are available at https://www.cs.cmu.edu/~wyuan1/pcn/ 

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Reverse Curriculum Generation for Reinforcement Learning

Jul 23, 2018
Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel

* Published at the 1st Conference on Robot Learning (CoRL 2017) 

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Automatic Goal Generation for Reinforcement Learning Agents

Jul 23, 2018
Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel

* Accepted at ICML 2018, Proceedings of the 35th International Conference on Machine Learning, Stockholm, Sweden, PMLR 80, 2018 

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Constrained Policy Optimization

May 30, 2017
Joshua Achiam, David Held, Aviv Tamar, Pieter Abbeel

* Accepted to ICML 2017 

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Probabilistically Safe Policy Transfer

May 15, 2017
David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel


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Learning to Track at 100 FPS with Deep Regression Networks

Aug 16, 2016
David Held, Sebastian Thrun, Silvio Savarese

* To appear in European Conference on Computer Vision (ECCV) 2016 

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Deep Learning for Single-View Instance Recognition

Jul 29, 2015
David Held, Sebastian Thrun, Silvio Savarese

* 16 pages, 15 figures 

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