Danfei Xu

I am a Ph.D. student in CS at Stanford University. My advisors are Fei-Fei Li and Silvio Savarese who co-lead the Stanford Vision and Learning Lab. My research focuses on compositional and generalizable structures in robotics and vision.

Prior to joining Stanford, I received my B.S. from Columbia University (2015). I've worked/interned at DeepMind UK (2019), ZOOX (2017), Autodesk Research (2016), CMU RI (2014), and Columbia Robotics Lab (2013-2015).

Email / Google Scholar / CV (Jan 2019) / Github / Twitter

News

[Sep 2019] Regression Planning Networks accepted at NeurIPS 2019. Paper and code coming soon.
[June 2019] Neural Task Graphs (oral) and DenseFusion presented at CVPR 2019
[Jan 2019] We have released the code and arXiv preprint for our DenseFusion project.

Research

	Regression Planning Networks Danfei Xu, Roberto Martin-Martin, De-An Huang, Yuke Zhu, Silvio Savarese, Li Fei-Fei NeurIPS, 2019 Code coming soon. A flexible neural network architecture for learning to plan from video demonstrations.
	Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning De-An Huang, Danfei Xu, Yuke Zhu, Silvio Savarese, Li Fei-Fei, Juan Carlos Niebles IROS , 2019 One-shot imitation learning via hybrid neural-symbolic planning.
	Situational Fusion of Visual Representation for Visual Navigation William B. Shen, Danfei Xu, Yuke Zhu, Leonidas Guibas, Li Fei-Fei, Silvio Savarese ICCV , 2019 Learning generalizable navigation policy from mid-level visual representations.
	DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martin-Martin, Cewu Lu, Li Fei-Fei, Silvio Savarese CVPR, 2019 [website] [video] [code] Dense RGB-depth sensor fusion for 6D object pose estimation.
	Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration De-An Huang, Suraj Nair, Danfei Xu, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, Juan Carlos Niebles CVPR*, 2019 (Oral) Generate executable task graphs from video demonstrations.
	Neural Task Programming: Learning to Generalize Across Hierarchical Tasks Danfei Xu, Suraj Nair, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, Silvio Savarese ICRA, 2018 [website] [video] [Two Minute Papers] Neural Task Programming (NTP) is a meta-learning framework that learns to generate robot-executable neural programs from task demonstration video.
	PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimation Danfei Xu, Ashesh Jain, Dragomir Anguelov CVPR, 2018 End-to-end 3D Bounding Box Estimation via sensor fusion.
	Scene Graph Generation by Iterative Message Passing Danfei Xu, Yuke Zhu, Christopher B. Choy, Li Fei-Fei CVPR, 2017 [website] [code] We propose an end-to-end model that jointly infers object category, location, and relationships. The model learns to iteratively improve its prediction by passing messages on a scene graph.
	3D-R2N2: A Unified Approach for Single and Multi-view 3D Object Reconstruction Christopher B. Choy, Danfei Xu, JunYoung Gwak, Silvio Savarese ECCV, 2016 [website] [code] We propose an end-to-end 3D reconstruction model that unifies single- and multi-view reconstruction.
	Model-Driven Feed-Forward Prediction for Manipulation of Deformable Objects Yinxiao Li , Yan Wang , Yonghao Yue , Danfei Xu, Michael Case , Shih-Fu Chang , Eitan Grinspun , Peter K. Allen IEEE TASE, 2016 [website] Deformable object manipulation with an application of personal assitive robot. This is the journal paper of our "laundry robot" series: ICRA 2015 IROS 2015 ICRA 2016
	Topometric localization on a road network Danfei Xu, Hernan Badino, Daniel Huber IROS, 2015 Vision-based localization on a probabilistic road network.
	Tactile identification of objects using Bayesian exploration Danfei Xu, Gerald E. Loeb, Jeremy Fishel ICRA, 2013 Object classification using multi-modal tactile sensing.

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