Dafa Ren — accepted AI-conference papers

2023

Learning Bifunctional Push-Grasping Synergistic Strategy for Goal-Agnostic and Goal-Oriented Tasks

Dafa Ren, Shuang Wu, Xiaofan Wang, Yan Peng, Xiaoqiang Ren

IROS 2023poster

Both goal-agnostic and goal-oriented tasks have practical value for robotic grasping: goal-agnostic tasks target all objects in the workspace, while goal-oriented tasks aim at grasping pre-assigned goal objects. However, most current grasping methods are only better at coping with one task. In this…

Cited by 11 Source ↗code ↗Scholar ↗

2021

Fast-Learning Grasping and Pre-Grasping via Clutter Quantization and Q-map Masking

Dafa Ren, Xiaoqiang Ren, Xiaofan Wang, S. Tejaswi Digumarti, Guodong Shi

IROS 2021poster

Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a Fast-Learning Grasping (FLG) framework, that can integrate pre-graspi…

Cited by 9 Source ↗Scholar ↗