David Held

Carnegie Mellon University — United States

Engineering · Physical Sciences

68h-index29.7kcitations378works1.62yr avg
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Research Topics

Robot Manipulation and Learning(44), Reinforcement Learning in Robotics(31), Global Peace and Security Dynamics(30), Robotics and Sensor-Based Localization(25), Human Pose and Action Recognition(25)

Publications375 total

Real-World Offline Reinforcement Learning from Vision Language Model Feedback
2025
Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions
arXiv (Cornell University)·2025Open Access
Geometric Red-Teaming for Robotic Manipulation
arXiv (Cornell University)·2025Open Access
Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
arXiv (Cornell University)·2025Open Access
Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
arXiv (Cornell University)·2025Open Access
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
2025Open Access
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
2025· 7 cited
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
arXiv (Cornell University)·2025Open Access
Unfolding the Literature: A Review of Robotic Cloth Manipulation
Annual Review of Control Robotics and Autonomous Systems·2024· 13 citedOpen Access
Real-World Offline Reinforcement Learning from Vision Language Model Feedback
arXiv (Cornell University)·2024Open Access
Non-rigid Relative Placement through 3D Dense Diffusion
arXiv (Cornell University)·2024Open Access
Learning Generalizable Tool-use Skills through Trajectory Generation
2024
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
arXiv (Cornell University)·2024Open Access
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
arXiv (Cornell University)·2024· 1 citedOpen Access
Active velocity estimation using light curtains via self-supervised multi-armed bandits
Autonomous Robots·2024· 1 cited
HACMan++: Spatially-Grounded Motion Primitives for Manipulation
2024· 1 cited
HACMan++: Spatially-Grounded Motion Primitives for Manipulation
arXiv (Cornell University)·2024Open Access
Unfolding the Literature: A Review of Robotic Cloth Manipulation
arXiv (Cornell University)·2024· 1 citedOpen Access
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation
2024· 1 cited
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization
2024· 2 cited
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Frequent Co-authors

Anthony McGrew(12), David Goldblatt(6), Jonathan Perraton(6), Gillian Brock(4), G. John Ikenberry(3), Daniele Archibugi(3), John Thompson(3), Carlos Florensa(3), Pieter Abbeel(3), Sebastian Thrun(2), Martin Köhler(2), Fen Osler Hampson(2), Anthony Giddens(2), Xinyang Geng(2), Jesse Levinson(1), Jake Askeland(1), Jan Becker(1), Jennifer Dolson(1), Soeren Kammel(1), J. Zico Kolter(1)