Danfei Xu

  ![](/sites/default/files/person/Danfei.JPG)

 ### Publications

### 2026

[Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning](/index.php/publication/2026-11_human2any-human-robot-transfer-constraint-aware-compositional-planning)

Shuo Cheng, Chuye Zhang, Alfred Cueva, [Caelan Garrett](/index.php/person/caelan-garrett), [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Danfei Xu](/index.php/person/danfei-xu)

[CoRL 2026](https://arxiv.org/abs/2606.28813)

### 2025

[Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training](/index.php/publication/2025-12_generalizable-domain-adaptation-sim-and-real-policy-co-training)

Shuo Cheng, Liqian Ma, Zhenyang Chen, [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Caelan Garrett](/index.php/person/caelan-garrett), [Danfei Xu](/index.php/person/danfei-xu)

[Conference on Neural Information Processing Systems (NeuRIPS)](https://arxiv.org/abs/2509.18631)

### 2024

[NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors](/index.php/publication/2024-11_nod-tamp-generalizable-long-horizon-planning-neural-object-descriptors)

Shuo Cheng, [Caelan Garrett](/index.php/person/caelan-garrett), [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Danfei Xu](/index.php/person/danfei-xu)

[ Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=rThtgkXuvZ)

### 2023

[ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models](/publication/2023-05_progprompt-generating-situated-robot-task-plans-using-large-language-models)

Ishika Singh, [Valts Blukis](/person/valts-blukis), Arsalan Mousavian, Ankit Goyal, [Danfei Xu](/person/danfei-xu), [Jonathan Tremblay](/person/jonathan-tremblay), Dieter Fox, Jesse Thomason, Animesh Garg

[The International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/welcome)

[Guided Conditional Diffusion for Controllable Traffic Simulation](/publication/2023-05_guided-conditional-diffusion-controllable-traffic-simulation)

Ziyuan Zhong, Davis Rempe, [Danfei Xu](/person/danfei-xu), [Yuxiao Chen](/person/yuxiao-chen), [Sushant Veer](/person/sushant-veer), [Gerry Che](/person/gerry-che), Baishakhi Ray, [Marco Pavone](/person/marco-pavone)

[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/)

[BITS: Bi-level Imitation for Traffic Simulation](/publication/2023-05_bits-bi-level-imitation-traffic-simulation)

[Danfei Xu](/person/danfei-xu), [Yuxiao Chen](/person/yuxiao-chen), [Boris Ivanovic](/person/boris-ivanovic), [Marco Pavone](/person/marco-pavone)

[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/)

### 2022

[Robust Trajectory Prediction against Adversarial Attacks](/publication/2022-12_robust-trajectory-prediction-against-adversarial-attacks)

[Yulong Cao](/person/yulong-cao), [Danfei Xu](/person/danfei-xu), [Xinshuo Weng](/person/xinshuo-weng), Z. Morely Mao, Anima Anandkumar, [Chaowei Xiao](/person/chaowei-xiao), [Marco Pavone](/person/marco-pavone)

[Conference on Robot Learning (CoRL) 2022](https://corl2022.org/)

Selected for Oral Presentation

[AdvDO: Realistic Adversarial Attacks for Trajectory Prediction](/publication/2022-10_advdo-realistic-adversarial-attacks-trajectory-prediction)

[Yulong Cao](/person/yulong-cao), [Chaowei Xiao](/person/chaowei-xiao), Anima Anandkumar, [Danfei Xu](/person/danfei-xu), [Marco Pavone](/person/marco-pavone)

[European Conference on Computer Vision (ECCV) 2022](https://eccv2022.ecva.net/)