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Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation



Zixuan Huang , Xingyu Lin , David Held

* RSS 2022 

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FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects



Ben Eisner , Harry Zhang , David Held

* Accepted to Robotics Science and Systems (RSS) 2022 

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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

* ICLR 2022. Project page: https://xingyu-lin.github.io/diffskill/ 

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RB2: Robotic Manipulation Benchmarking with a Twist



Sudeep Dasari , Jianren Wang , Joyce Hong , Shikhar Bahl , Yixin Lin , Austin Wang , Abitha Thankaraj , Karanbir Chahal , Berk Calli , Saurabh Gupta , David Held , Lerrel Pinto , Deepak Pathak , Vikash Kumar , Abhinav Gupta

* accepted at the NeurIPS 2021 Datasets and Benchmarks Track 

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Self-supervised Transparent Liquid Segmentation for Robotic Pouring



Gautham Narayan Narasimhan , Kai Zhang , Ben Eisner , Xingyu Lin , David Held

* 2022 IEEE International Conference on Robotics and Automation (ICRA) 
* Accepted at ICRA 2022 

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Semi-supervised 3D Object Detection via Temporal Graph Neural Networks



Jianren Wang , Haiming Gang , Siddarth Ancha , Yi-Ting Chen , David Held

* 3DV 2021 

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OSSID: Online Self-Supervised Instance Detection by (and for) Pose Estimation



Qiao Gu , Brian Okorn , David Held

* 10 pages, 6 figures. Accepted to RA-L 

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Self-Supervised Point Cloud Completion via Inpainting



Himangi Mittal , Brian Okorn , Arpit Jangid , David Held

* BMVC 2021 (Oral) 

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FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy



Thomas Weng , Sujay Bajracharya , Yufei Wang , Khush Agrawal , David Held

* CoRL 2021 

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Active Safety Envelopes using Light Curtains with Probabilistic Guarantees



Siddharth Ancha , Gaurav Pathak , Srinivasa G. Narasimhan , David Held

* 18 pages, Published at Robotics: Science and Systems (RSS) 2021 

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