Danfei Xu

I am a 4th year 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 interests are 3D computer vision and robot learning.

Prior to joining Stanford, I received my B.S. from Columbia University. I've worked at ZOOX, Autodesk Research, CMU RI, and Columbia Robotics Lab.

Email  /  Google Scholar  /  CV  /  Github  /  Twitter

News
  • [Feb 2019] Neural Task Graphs and DenseFusion accepted at CVPR 2019!
  • [Feb 2019] I will be a research intern at DeepMind UK summer 2019.
  • [Jan 2019] We have released the code and arXiv preprint for our DenseFusion project..
Research
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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