/David Held

David Held

Portrait of David Held
Assistant Professor
Email: dheld@andrew.cmu.edu
Office: 215 Elliot Dunlap Smith Hall
Personal Homepage
Administrative Assistant: Ashley Song
Mailing Address

My research lies at the intersection of robotics, machine learning, and computer vision.

I am interested in developing methods for robotic perception and control that can allow robots to operate in in the messy, cluttered environments of our daily lives. My approach is to design new deep learning / machine learning algorithms to understand environmental changes: how dynamic objects in the environment can move and how to affect the environment to achieve a desired task.

I have applied this idea of learning to understand environmental changes to improve a robot’s capabilities in two domains: object manipulation and autonomous driving. I am currently working on learning to control indoor robots for various object manipulation tasks, dealing with questions about multi-task learning, robust learning, simulation to real-world transfer, and safety. Within autonomous driving, I have shown how, by modeling object appearance changes, we can improve a robot’s capabilities for every part of the robot perception pipeline: segmentation, tracking, velocity estimation, and object recognition. By teaching robots to understand and affect environmental changes, I hope to open the door to many new robotics applications, such as robots for our homes, assisted living facilities, schools, hospitals, or disaster relief areas.

The following video provides a decent overview of my current research and some of my current interests:

Displaying 15 Publications
Reverse Curriculum Generation for Reinforcement Learning
Carlos Florensa, David Held, Markus Wulfmeier and Pieter Abbeel

Conference Paper, Proceedings of the 1st Annual Conference on Robot Learning, Vol. 78, pp. 482-495, November, 2017
Learning to Track at 100 FPS with Deep Regression Networks
David Held, Sebastian Thrun and Silvio Savarese

Conference Paper, European Conference on Computer Vision (ECCV), October, 2017
Policy Transfer via Modularity and Reward Guiding
Ignasi Clavera, David Held and Pieter Abbeel

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), September, 2017
Constrained Policy Optimization
Joshua Achiam, David Held, Aviv Tamar and Pieter Abbeel

Conference Paper, International Conference on Machine Learning (ICML), August, 2017
Enabling Robots to Communicate their Objectives
Sandy H. Huang, David Held, Pieter Abbeel and Anca D. Dragan

Conference Paper, Robotics: Science and Systems (RSS), July, 2017
Probabilistically Safe Policy Transfer
David Held, Zoe McCarthy, Michael Zhang, Fred Shentu and Pieter Abbeel

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2017
A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues
David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun and Silvio Savarese

Conference Paper, Robotics: Science and Systems (RSS), June, 2016
Robust single-view instance recognition
David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun and Silvio Savarese

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2016
Robust Real-Time Tracking Combining 3D Shape, Color, and Motion
David Held, Jesse Levinson, Sebastian Thrun and Silvio Savarese

Conference Paper, International Journal of Robotics Research (IJRR), January, 2016
Combining 3D Shape, Color, and Motion for Robust Anytime Tracking
David Held, Jesse Levinson, Sebastian Thrun and Silvio Savarese

Conference Paper, Robotics: Science and Systems (RSS), July, 2014
Precision Tracking with Sparse 3D and Dense Color 2D Data
David Held, Jesse Levinson and Sebastian Thrun

Conference Paper, International Conference on Robotics and Automa= tion (ICRA), May, 2013
A Probabilistic Framework for Car Detection in Images using Context and Scale
David Held, Jesse Levinson and Sebastian Thrun

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2012
Characterizing Stiffness of Multi-Segment Flexible Arm Movements
David Held, Yoram Yekutieli and Tamar Flash

Conference Paper, International Conference on Robotics and Automa= tion (ICRA), May, 2012
Towards fully autonomous driving: Systems and algorithms
Jesse Levinson, Jake Askeland, Jan Becker, Jennifer Dolson, David Held, Soeren Kammel, J. Zico Kolter, Dirk Langer, Oliver Pink, Vaughan Pratt, Michael Sokolsky, Ganymed Stanek, David Stavens, Alex Teichman, Moritz Werling and Sebastian Thrun

Journal Article, Carnegie Mellon University, Intelligent Vehicles Symposium (IV), June, 2011
MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed
Zhipu Jinh, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held and Richard M. Murray

Conference Paper, American Control Conference (ACC), June, 2004

Current RI Students

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