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HTTP/2 200 server: GitHub.com content-type: text/html; charset=utf-8 last-modified: Sun, 17 Aug 2025 02:59:15 GMT access-control-allow-origin: * etag: W/"68a14583-67f9" expires: Sun, 28 Dec 2025 11:11:18 GMT cache-control: max-age=600 content-encoding: gzip x-proxy-cache: MISS x-github-request-id: DD59:21D6A4:79966A:882589:69510DFE accept-ranges: bytes age: 0 date: Sun, 28 Dec 2025 11:01:18 GMT via: 1.1 varnish x-served-by: cache-bom-vanm7210052-BOM x-cache: MISS x-cache-hits: 0 x-timer: S1766919678.266241,VS0,VE215 vary: Accept-Encoding x-fastly-request-id: 2b46ab2b9f32cfad2a44014b20d8cd16b78ae21a content-length: 4807 Ben Eisner

Ben Eisner

Hello! I'm a 5th-Year Ph.D. student in the Robotics Institute at Carnegie Mellon University, working with Prof. David Held. I work on 3D geometric reasoning for robotic manipulation. My research is supported in part by the NSF Graduate Research Fellowship.

Here's my cv, my Google Scholar profile, and my Github profile.

You can reach me at ben.a.eisner@gmail.com.

Publications

	Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement Kallol Saha, Amber Li, Ángela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner, Maxim Likhachev, David Held CoRL 2025 (Oral - 5.7% acceptance rate) paper \| website
	Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner, David Held CoRL 2025 paper \| website \| code
	Non-rigid Relative Placement through 3D Dense Diffusion Eric Cai, Octavian Donca, Ben Eisner, David Held CoRL 2024 paper \| website \| code
	FlowbotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held CoRL 2024 paper \| website \| code
	Sequential Object-Centric Relative Placement Prediction for Long-horizon Imitation Learning Ben Eisner, Eric Cai, Octavian Donca, Teeratham Vitchutripop, David Held Workshop on Learning Effective Abstractions for Planning (LEAP) @ CoRL 2024 paper \| website \| code
	Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerik, Jonathan Scholz, David Held International Conference on Learning Representations (ICLR) 2024 paper \| website \| code
	FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection Harry Zhang, Ben Eisner, David Held CoRL 2023 paper \| website \| code
	On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks M. Nomaan Qureshi, Ben Eisner, David Held Learning Meets Model-based Methods for Manipulation and Grasping Workshop @ IROS 2023 paper
	TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held CoRL 2022 paper \| website \| code
	FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects Ben Eisner, Harry Zhang, David Held RSS 2022, Best Paper Finalist paper \| website \| code \| talk
	Deep Sequenced Linear Dynamical Systems for Manipulation Policy Learning M. Nomaan Qureshi, Ben Eisner, David Held ICLR 2022 Workshop on Generalizable Policy Learning in Physical World paper \| website \| code
	Self-supervised Transparent Liquid Segmentation for Robotic Pouring Gautham Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held ICRA 2022 paper \| website \| code
	Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction Daniel Yang, Tarik Tosun, Ben Eisner, Volkan Isler, Daniel Lee ICRA 2021 paper
	Reward Prediction Error as an Exploration Objective in Deep RL Riley Simmons-Edler, Ben Eisner, Daniel Yang, Anthony Bisulco, Eric Mitchell, Sebastian Seung, Daniel Lee IJCAI 2020 paper
	Pixels to Plans: Learning Non-Prehensile Manipulation by Imitating a Planner Tarik Tosun, Eric Mitchell, Ben Eisner, Jinwook Huh, Bhoram Lee, Daewon Lee, Volkan Isler, Sebastian Seung, Daniel Lee IROS 2019 paper
	Q-Learning for Continuous Actions with Cross-Entropy Guided Policies Riley Simmons-Edler, Ben Eisner, Eric Mitchell, Sebastian Seung, Daniel Lee ICML 2019 Workshop on RL4RealLife paper
	Deep Learning Methods for 3D Segmentation of Neural Tissue in EM Images Ben Eisner, Daniel Yang, Anthony Bisulco, Eric Mitchell, Sebastian Seung, Daniel Lee Princeton University Senior Thesis paper \| code
	emoji2vec: Learning emoji representations from their description Ben Eisner, Tim Rocktäschel, Isabelle Augenstein, Matko Bošnjak, Sebastian Riedel Best Paper atEMNLP 2016 Workshop on SocialNLP paper \| code

Original Source | Taken Source

	Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement Kallol Saha, Amber Li, Ángela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner, Maxim Likhachev, David Held CoRL 2025 (Oral - 5.7% acceptance rate) paper \| website
	Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner, David Held CoRL 2025 paper \| website \| code
	Non-rigid Relative Placement through 3D Dense Diffusion Eric Cai, Octavian Donca, Ben Eisner, David Held CoRL 2024 paper \| website \| code
	FlowbotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held CoRL 2024 paper \| website \| code
	Sequential Object-Centric Relative Placement Prediction for Long-horizon Imitation Learning Ben Eisner, Eric Cai, Octavian Donca, Teeratham Vitchutripop, David Held Workshop on Learning Effective Abstractions for Planning (LEAP) @ CoRL 2024 paper \| website \| code
	Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerik, Jonathan Scholz, David Held International Conference on Learning Representations (ICLR) 2024 paper \| website \| code
	FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection Harry Zhang, Ben Eisner, David Held CoRL 2023 paper \| website \| code
	On Time-Indexing as Inductive Bias in Deep RL for Sequential Manipulation Tasks M. Nomaan Qureshi, Ben Eisner, David Held Learning Meets Model-based Methods for Manipulation and Grasping Workshop @ IROS 2023 paper
	TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held CoRL 2022 paper \| website \| code
	FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects Ben Eisner, Harry Zhang, David Held RSS 2022, Best Paper Finalist paper \| website \| code \| talk
	Deep Sequenced Linear Dynamical Systems for Manipulation Policy Learning M. Nomaan Qureshi, Ben Eisner, David Held ICLR 2022 Workshop on Generalizable Policy Learning in Physical World paper \| website \| code
	Self-supervised Transparent Liquid Segmentation for Robotic Pouring Gautham Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held ICRA 2022 paper \| website \| code
	Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction Daniel Yang, Tarik Tosun, Ben Eisner, Volkan Isler, Daniel Lee ICRA 2021 paper
	Reward Prediction Error as an Exploration Objective in Deep RL Riley Simmons-Edler, Ben Eisner, Daniel Yang, Anthony Bisulco, Eric Mitchell, Sebastian Seung, Daniel Lee IJCAI 2020 paper
	Pixels to Plans: Learning Non-Prehensile Manipulation by Imitating a Planner Tarik Tosun, Eric Mitchell, Ben Eisner, Jinwook Huh, Bhoram Lee, Daewon Lee, Volkan Isler, Sebastian Seung, Daniel Lee IROS 2019 paper
	Q-Learning for Continuous Actions with Cross-Entropy Guided Policies Riley Simmons-Edler, Ben Eisner, Eric Mitchell, Sebastian Seung, Daniel Lee ICML 2019 Workshop on RL4RealLife paper
	Deep Learning Methods for 3D Segmentation of Neural Tissue in EM Images Ben Eisner, Daniel Yang, Anthony Bisulco, Eric Mitchell, Sebastian Seung, Daniel Lee Princeton University Senior Thesis paper \| code
	emoji2vec: Learning emoji representations from their description Ben Eisner, Tim Rocktäschel, Isabelle Augenstein, Matko Bošnjak, Sebastian Riedel Best Paper atEMNLP 2016 Workshop on SocialNLP paper \| code