Cristian C. Beltran-Hernandez

I am a Senior Researcher at OMRON SINIC X Corporation. I received my B.Sc. in computer science from the University of La Sabana, Colombia, in 2013, and my M.Eng. in intelligent systems and Ph.D. in engineering from Osaka University, in 2019 and 2022, respectively.

My research interests and current work focus on robot learning for contact-rich manipulation—from industrial assembly to everyday tasks, including learning force and compliance control with position-controlled robots (e.g. variable compliance and peg-in-hole assembly), hybrid trajectory-and-force learning for imitation of human assembly skills, vision–language-guided task and motion planning, robot learning for cooking (e.g. food slicing and TAMP for preparation), and soft robotics and tactile sensing for compliant assembly and insertion.

news

Feb 01, 2026	We have three papers accepted to ICRA 2026!: Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand A Flexible Funnel-Shaped Robotic Hand with an Integrated Single-Sheet Valve for Milligram-Scale Powder Handling See you in Vienna!

Feb 01, 2026

We have three papers accepted to ICRA 2026!:

Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
A Flexible Funnel-Shaped Robotic Hand with an Integrated Single-Sheet Valve for Milligram-Scale Powder Handling

See you in Vienna!

selected publications

ICRA2026

A Flexible Funnel-Shaped Robotic Hand with an Integrated Single-Sheet Valve for Milligram-Scale Powder Handling

Tomoya Takahashi, Yusaku Nakajima, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, and 3 more authors

In IEEE International Conference on Robotics and Automation (ICRA), 2026

arXiv Bib

@inproceedings{takahashi2026scuhand,
  author = {Takahashi, Tomoya and Nakajima, Yusaku and Beltran-Hernandez, Cristian C. and Kuroda, Yuki and Tanaka, Kazutoshi and Hamaya, Masashi and Ono, Kanta and Ushiku, Yoshitaka},
  title = {A Flexible Funnel-Shaped Robotic Hand with an Integrated Single-Sheet Valve for Milligram-Scale Powder Handling },
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
}

ICRA2026

Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand

Yongliang Wang, Cristian C. Beltran-Hernandez, Tomoya Takahashi, and Masashi Hamaya

In IEEE International Conference on Robotics and Automation (ICRA), 2026

arXiv Bib

@inproceedings{yongliang2026simulation,
  title = {Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand},
  author = {Wang, Yongliang and Beltran-Hernandez, Cristian C. and Takahashi, Tomoya and Hamaya, Masashi},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  url = {https://arxiv.org/abs/2509.17666}
}

ICRA2026

Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery

Mimo Shirasaka, Cristian C. Beltran-Hernandez, Masashi Hamaya, and Yoshitaka Ushiku

In IEEE International Conference on Robotics and Automation (ICRA), 2026

arXiv Bib

@inproceedings{shirasaka2026recovery,
  title = {Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery},
  author = {Shirasaka, Mimo and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Ushiku, Yoshitaka},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  url = {https://arxiv.org/abs/2509.17666},
}