VIDEO
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations (2020)
VIDEO
6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints (2020)
Positive-Unlabeled Reward Learning
Danfei Xu ,
Misha Denil
(Long version) CoRL 2020
(Short version) Late-Breaking Paper, NeurIPS Deep Reinforcement Learning Workshop 2019
[Video]
An algorithm framework that simultaneously addresses the reward delusion problem in supervised reward learning and the overfitting discriminator problem in adversarial imitation learning.
Procedure Planning in Instructional Videos
Chien-Yi Chang,
De-An Huang ,
Danfei Xu ,
Ehsan Adeli ,
Li Fei-Fei
Juan Carlos Niebles
ECCV, 2020
Learning to plan from instructional videos.
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
Ajay Mandlekar*,
Danfei Xu* ,
Roberto Martin-Martin ,
Silvio Savarese ,
Li Fei-Fei
RSS, 2020
[website]
[video]
[blog post]
Learning visuomotor policies that can generalize across long-horizon tasks by modeling latent compositional structures.
6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
Chen Wang ,
Roberto Martin-Martin ,
Danfei Xu ,
Jun Lv ,
Cewu Lu ,
Li Fei-Fei ,
Silvio Savarese ,
Yuke Zhu
ICRA , 2020
[website]
[video]
[code]
Real-time category-level 6D object tracking from RGB-D data.
Regression Planning Networks
Danfei Xu ,
Roberto Martin-Martin ,
De-An Huang ,
Yuke Zhu ,
Silvio Savarese ,
Li Fei-Fei
NeurIPS , 2019
[code]
[poster]
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
[blog post]
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)
[blog post]
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]
[blog post]
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.
[2020] Stanford CS 231n instructor
[2019] Stanford CS 231n teaching assistant & lecturer
[2018] Stanford CS 231n teaching assistant
[2018] Stanford CS 231a teaching assistant
Reviewer: CVPR, ICCV, ECCV, IROS, ICRA, CoRL, AAAI, IJRR, TPAMI, RA-L, NeurIPS, ICLR, ICML