Daniel Troniak

2 accepted papers

2020

Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps

Jialiang Zhao, Daniel Troniak, Oliver Kroemer

CoRL 2020

Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects’ geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute. However, several factors contribute to the challenges of realizin

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2019

Homography-Based Deep Visual Servoing Methods for Planar Grasps

Austin S. Wang, Wuming Zhang, Daniel Troniak, Jacky Liang, Oliver Kroemer

IROS 2019poster

We propose a visual servoing framework for learning to improve grasps of objects. RGB and depth images from grasp attempts are collected using an automated data collection process. The data is then used to train a Grasp Quality Network (GQN) that predicts the outcome of grasps from visual informatio…

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