Cristian Camilo Beltran-Hernandez

Cristian Camilo Beltran-Hernandez




Cristian C Beltran-Hernandez received the B.Sc. Degree in information engineering from the University of La Sabana, Colombia, in 2013, the M.Sc. and Ph.D. degree in engineering science from Osaka University, in 2019 and 2022, respectively. He worked on joint research projects with Fujifilm from 2018 to 2022 on topics related to robotic assembly automation with compliance control. He has been conducting research about robot manipulation as an intern at OMRON SINIC X since 2021. His research interests include robotics manipulation through machine learning techniques.

Download my resumé .

  • Robot Manipulation
  • Intelligent Systems (AI, Machine Learning, Reinforcement Learning)
  • Industrial Automation
  • PhD in Engineering, 2022

    Osaka University

  • MEng in Intelligent Systems, 2019

    Osaka University

  • BSc in Computer Science, 2013

    University of La Sabana





Professional proficiency


Conversational (N3)

Experience and Education

Research Internship - Full Time
Oct 2022 – Apr 2023 Hybrid (Office in Tokyo)
Research on robot manipulation for a cooking robot.
MoveIt - Google Summer of Code GSoC 2022
Robotic Engineer
Jun 2022 – Nov 2022 Remote
Developing a new trajectory execution module for MoveIt to allow multiple robots to run simultaneously.
Osaka University
Doctoral Course
Oct 2019 – Sep 2022 Osaka, Japan


Research Internship - Part Time
Oct 2021 – Apr 2021 Remote
Support of robotic system developed for the WRS2020 competition during my in-site internship.
Research Internship - Full Time
Apr 2021 – Sep 2021 Tokyo, Japan
Implementation of a ROS-based autonomous robotic system for industrial assembly. Additionally, developing motion controllers on top of the motion planner framework MoveIt. Results: Our system was showcased at the World Robot Summit (WRS2020) on the Industrial Robot Category - Assembly Challenge. We obtained 3rd place and a special award from the Japanese Society of Artificial Intelligence JSAI.
Osaka University & FUJIFILM Corporation
Joint Research Project
Osaka University & FUJIFILM Corporation
Oct 2018 – Apr 2021 Osaka, Japan
Working with Prof Kensuke Harada and Fujifilm R&D to create motion planning solutions for industrial assembly tasks based on Reinforcement Learning techniques. Results: a patent and a publication
Osaka University
Master in Engineering Course
Oct 2017 – Sep 2019 Osaka, Japan


  • Learning robot manipulation via Reinforcement Learning.
  • Learning force control for contact-rich manipulations with position controlled robots.
Osaka University
Research Student
Apr 2017 – Sep 2017 Osaka, Japan


  • Robotics and intelligent systems.
  • Motion planning and control.
La Cadena retail Solutions Ltda
Software Developer
Oct 2016 – Mar 2017 Bogota, Colombia
Design and development of an administrative web application. Backend based on Java 8 using Spring framework and its modules Spring Boot, Spring Security, Spring Cloud and Spring Rest. Database Microsoft SQL Server. Frontend based on JavaScript ES6, React JS, Redux and Material Design. Communication based on Restful Webservices.
Software Engineer
Oct 2013 – Apr 2016 Bogota, Colombia
Software design and implementation aimed at supply chain, mainly warehouse management systems (WMS RedPrairie / JDA). Responsible for design, implementation and integration of new modules and customizations on a multi-language environment: Java, C#, C, Groovy, SQL Server, Oracle SQL and PL SQL. Meanwhile, providing consulting services during phases of design, configuration, implementation, and go-live of warehouse management systems (RedPraire /JDA) with several national and international clients.
SF International
Jan 2013 – Jun 2013 Bogota, Colombia

Responsibilities include:

  • Web service development based on Java language
  • Design, development and implementation of databases based on Oracle SQL and Microsoft SQL Server.
  • Software development for IBM applications based on C# language
University of La Sabana
Computer Science Degree
Jan 2013 – Jun 2013 Chia, Colombia
Thesis topic: Development of a fuzzy Logic-based system to monitor and control an algae bio-reactor on a PLC.


WRS2020 World Robot Summit
Member of the O2AC team. We achieve 3rd place in the Assembly Challenge and a special award from the Japanese Society of Artifitial Intelligence (JSAI). Our solution consist of a dual arm set-up with Universal Robots UR5e, parallel grippers, realsense cameras and compliant tools.
WRS2020 World Robot Summit
GYM-environment for UR3e robot in Gazebo/ROS
Open-source project for simulation/real learning environment for Universal Robot arms.
GYM-environment for UR3e robot in Gazebo/ROS
Learning to graps with primitive-shaped objects
Learning to grasp using Baxter with joint torque control.
Learning to graps with primitive-shaped objects
OpenBotV MVP - Robotics 4.0
2016/17 Educational robot: First prototype of robot arm, and corresponding Android app.
OpenBotV MVP - Robotics 4.0

Honors and Awards

Executive committe chairperson’s award for excellence: 3rd Place Assembly Challenge
World Robot Summit 2020. Our team O2AC placed 3rd at the Industrial Robotics Category, Assembly Challenge.
JSAI Award
Recognition of our solution as a superior system in the Assembly Challenge, O2AC team by Japanese Society of Artificial Intelligence
Best Oral Presentation (優秀講演賞)
第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019)
Best Paper Award Finalist
2019 IEEE/SICE International Symposium on System Integrations (SII)
Finalist of International Session Best Paper Award
The 26th Annual Conference of the Robotics Society of Japan
Academic Scholarship
Academic scholarship by the Japanese Ministry of Education, Culture, Sports, Science and Technology (MEXT)
Mobile Cloud Computing with Android Specialization
Offered by University of Maryland, College Park, Vanderbilt University
See certificate

Recent & Upcoming Talks

Recent Publications

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(2022). Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots. IROS RA-L 2020.

PDF Cite Code Video DOI

(2022). Team O2AC at the World Robot Summit 2020: Towards Jigless, High-Precision Assembly. Advance Robotics 2022.

PDF Cite Code Video DOI

(2022). Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study. ArXiv.

Cite Code Video DOI preprint

Academic activities

Program Committee: Reinforcement Learning for Contact-Rich Manipulation Workshop
Technical Program Committee Member
Reviewer at IEEE Transactions on Automation Science and Engineering
Reviewer at international conferences ICRA, IROS, CASE…
Reviewer at IEEE Robotics and Automation Letters