Publications

2025

1. 

   Grounded Vision-Language Interpreter for Integrated Task and Motion Planning

   Jeremy Siburian, Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Michael Görner, and 1 more author

   2025

   arXiv Blog

2. 

   KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks

   Edgar Anarossi, Yuhwan Kwon, Hirotaka Tahara, Shohei Tanaka, Keisuke Shirai, and 4 more authors

   2025

   arXiv
3. ICORR2025

   

   PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation

   Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Masashi Hamaya, and Kazutoshi Tanaka

   In IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), 2025

   arXiv Bib Video Blog

   @inproceedings{kuroda2025plexushand,
     author = {Kuroda, Yuki and Takahashi, Tomoya and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Tanaka, Kazutoshi},
     title = {PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation},
     booktitle = {IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (ICORR)},
     year = {2025},
   }

4. ICRA2025

   

   SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

   Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib Video Blog

   @inproceedings{takahashi2025scuhand,
     author = {Takahashi, Tomoya and Beltran-Hernandez, Cristian C. and Kuroda, Yuki and Tanaka, Kazutoshi and Hamaya, Masashi and Ushiku, Yoshitaka},
     title = {SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

5. SII2025

   

   Practical Task and Motion Plannign for Robotic Food Preparation

   Jeremy Siburian, Cristian C. Beltran-Hernandez, and Masashi Hamaya

   In IEEE/SICE International Symposium on System Integrations, 2025

   DOI Bib

   @inproceedings{siburian2025integrated,
     author = {Siburian, Jeremy and Beltran-Hernandez, Cristian C. and Hamaya, Masashi},
     title = {Practical Task and Motion Plannign for Robotic Food Preparation},
     booktitle = {IEEE/SICE International Symposium on System Integrations},
     year = {2025},
     doi = {10.1109/SII59315.2025.10870896}
   }

2024

1. 

   Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation

   Malek Aburub, Cristian C. Beltran-Hernandez, Tatsuya Kamijo, and Masashi Hamaya

   2024

   arXiv Video Code
2. IROS

   

   Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System

   Tatsuya Kamijo, Cristian C. Beltran-Hernandez, and Masashi Hamaya

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Awarded arXiv Bib Video Blog Code

   2nd Best Poster - Collecting, Managing, and Utilizing Data through embodied Robots workshop - IROS2024

   @inproceedings{kamijo2024learning,
     author = {Kamijo, Tatsuya and Beltran-Hernandez, Cristian C. and Hamaya, Masashi},
     title = {Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
   }

3. IROS

   

   Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training

   Yuni Fuchioka, Cristian C. Beltran-Hernandez, Nguyen Hai, and Masashi Hamaya

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Bib PDF Video Blog

   @inproceedings{yuni2024soft,
     author = {Fuchioka, Yuni and Beltran-Hernandez, Cristian C. and Hai, Nguyen and Hamaya, Masashi},
     title = {Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training},
     year = {2024},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}
   }

4. IROS

   

   Low-cost air hockey robot using a five-bar linkage mechanism driven by position-control servomotors

   Mirai Shinjo, Cristian C. Beltran-Hernandez, Masashi Hamaya, and Kazutoshi Tanaka

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   Awarded Bib PDF Video Blog

   Best Entertainment and Amusement Papers Finalist - IROS2024

   @inproceedings{shinjo2024airhockey,
     author = {Shinjo, Mirai and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Tanaka, Kazutoshi},
     title = {Low-cost air hockey robot using a five-bar linkage mechanism driven by position-control servomotors},
     year = {2024},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   }

5. ICRA Workshop

   

   Integrated Task and Motion Planning for Real-World Cooking Tasks

   Jeremy Siburian, Cristian C. Beltran-Hernandez, and Masashi Hamaya

   In ICRA Workshop on Cooking Robotics: Perception and Motion Planning, 2024

   Awarded Bib PDF Video

   Best Video - Cooking Robotics workshop - ICRA2024

   @inproceedings{siburian2024integrated,
     author = {Siburian, Jeremy and Beltran-Hernandez, Cristian C. and Hamaya, Masashi},
     title = {Integrated Task and Motion Planning for Real-World Cooking Tasks},
     booktitle = {ICRA Workshop on Cooking Robotics: Perception and Motion Planning},
     year = {2024},
   }

6. ICRA

   

   SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing

   Cristian C. Beltran-Hernandez, Nicolas Erbetti, and Masashi Hamaya

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Awarded Bib PDF Video Blog Code

   Best Poster - Cooking Robotics workshop - ICRA2024

   @inproceedings{beltran2024sliceit,
     author = {Beltran-Hernandez, Cristian C. and Erbetti, Nicolas and Hamaya, Masashi},
     title = {SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing},
     year = {2024},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
   }

7. ICRA

   

   Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist

   Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez, and Masashi Hamaya

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib PDF Video Blog Code

   @inproceedings{hai2023symmetry,
     author = {Nguyen, Hai and Kozuno, Tadashi and Beltran-Hernandez, Cristian C. and Hamaya, Masashi},
     title = {Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist},
     year = {2024},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
   }

8. ICRA

   

   Vision-Language Interpreter for Robot Task Planning

   Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, and 4 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   Bib PDF Video Code

   @inproceedings{shirai2023vision,
     author = {Shirai, Keisuke and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Hashimoto, Atsushi and Tanaka, Shohei and Kawaharazuka, Kento and Tanaka, Kazutoshi and Ushiku, Yoshitaka and Mori, Shinsuke},
     title = {Vision-Language Interpreter for Robot Task Planning},
     year = {2024},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
   }

2023

1. IROS

   

   Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing

   Joaquín Royo-Miquel, Masashi Hamaya, Cristian C. Beltran-Hernandez, and Kazutoshi Tanaka

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   DOI Bib PDF Video

   @inproceedings{royo2023learning,
     author = {Royo-Miquel, Joaquín and Hamaya, Masashi and Beltran-Hernandez, Cristian C. and Tanaka, Kazutoshi},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing},
     year = {2023},
     pages = {6469-6476},
     keywords = {Wrist;Robotic assembly;Training;Uncertainty;Tactile sensors;Soft robotics;Sensors},
     doi = {10.1109/IROS55552.2023.10341471},
   }

2022

1. Advance Robotics

   

   Team O2AC at the World Robot Summit 2020: Towards Jigless, High-Precision Assembly

   Felix Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, and 1 more author

   Advance Robotics, 2022

   DOI Bib PDF Video Code

   @article{von2022o2ac,
     author = {von Drigalski, Felix and Kasaura, Kazumi and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Tanaka, Kazutoshi and Matsubara, Takamitsu},
     journal = {Advance Robotics},
     title = {Team O2AC at the World Robot Summit 2020: Towards Jigless, High-Precision Assembly},
     volume = {36},
     number = {22},
     pages = {1213--1227},
     year = {2022},
     publisher = {Taylor \& Francis},
     doi = {10.1080/01691864.2022.2138541},
   }

2. IROS+RAL

   

   Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry

   Felix Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, and 1 more author

   IEEE Robotics and Automation Letters, 2022

   DOI Bib PDF Video Code

   @article{von2022uncertainty,
     author = {von Drigalski, Felix and Kasaura, Kazumi and Beltran-Hernandez, Cristian C. and Hamaya, Masashi and Tanaka, Kazutoshi and Matsubara, Takamitsu},
     journal = {IEEE Robotics and Automation Letters},
     title = {Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry},
     year = {2022},
     volume = {7},
     number = {4},
     pages = {11942-11949},
     doi = {10.1109/LRA.2022.3207565},
   }

3. ArXiv

   Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study

   Cristian C Beltran-Hernandez, Damien Petit, Ixchel G Ramirez-Alpizar, and Kensuke Harada

   2022

   DOI arXiv Bib

   @unpublished{beltran2022accelerating,
     title = {Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study},
     author = {Beltran-Hernandez, Cristian C and Petit, Damien and Ramirez-Alpizar, Ixchel G and Harada, Kensuke},
     journal = {arXiv preprint arXiv:2204.12844},
     year = {2022},
     doi = {10.48550/arXiv.2204.12844},
   }

4. 

   An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks

   Yan Wang, Cristian C Beltran-Hernandez, Weiwei Wan, and Kensuke Harada

   Frontiers in Robotics and AI, 2022

   DOI Bib PDF

   @article{wang2022adaptive,
     title = {An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks},
     author = {Wang, Yan and Beltran-Hernandez, Cristian C and Wan, Weiwei and Harada, Kensuke},
     journal = {Frontiers in Robotics and AI},
     pages = {414},
     year = {2022},
     publisher = {Frontiers},
     doi = {10.3389/frobt.2021.777363},
   }

5. RSJ

   Curriculum Reinforcement Learning for Industrial Insertion Tasks

   Cristian Beltran, Damien Petit, Ixchel Ramirez-Alpizar, and Kensuke Harada

   In 第40回日本ロボット学会学術講演会 RSJ2022, 2022

   Bib

   @inproceedings{beltran2022rsj,
     title = {Curriculum Reinforcement Learning for Industrial Insertion Tasks},
     author = {Beltran, Cristian and Petit, Damien and Ramirez-Alpizar, Ixchel and Harada, Kensuke},
     booktitle = {第40回日本ロボット学会学術講演会 RSJ2022},
     year = {2022},
     organization = {RSJ}
   }

2021

1. 

   Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

   Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, and Kensuke Harada

   IEEE Access, 2021

   DOI Bib PDF

   @article{wang2021hybrid,
     author = {Wang, Yan and Beltran-Hernandez, Cristian C. and Wan, Weiwei and Harada, Kensuke},
     journal = {IEEE Access},
     title = {Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework},
     year = {2021},
     volume = {9},
     number = {},
     pages = {60175-60186},
     doi = {10.1109/ACCESS.2021.3073711},
   }

2. ICRA

   Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

   Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, and Kensuke Harada

   In IEEE International Conference on Robotics and Automation (ICRA), 2021

   DOI arXiv Bib

   @inproceedings{wang2021robotic,
     author = {Wang, Yan and Beltran-Hernandez, Cristian C. and Wan, Weiwei and Harada, Kensuke},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning},
     year = {2021},
     volume = {},
     number = {},
     pages = {11278-11284},
     doi = {10.1109/ICRA48506.2021.9561619},
   }

2020

1. 

   Variable compliance control for robotic peg-in-hole assembly: A deep-reinforcement-learning approach

   Cristian C Beltran-Hernandez, Damien Petit, Ixchel G Ramirez-Alpizar, and Kensuke Harada

   Applied Sciences, 2020

   DOI Bib PDF Video

   @article{beltran2020variable,
     title = {Variable compliance control for robotic peg-in-hole assembly: A deep-reinforcement-learning approach},
     author = {Beltran-Hernandez, Cristian C and Petit, Damien and Ramirez-Alpizar, Ixchel G and Harada, Kensuke},
     journal = {Applied Sciences},
     volume = {10},
     number = {19},
     pages = {6923},
     year = {2020},
     publisher = {MDPI},
     doi = {10.3390/app10196923},
   }

2. IROS + RAL

   

   Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots

   Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, and 2 more authors

   IEEE Robotics and Automation Letters, 2020

   DOI arXiv Bib PDF Video

   @article{beltran2020learning,
     title = {Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots},
     author = {Beltran-Hernandez, Cristian Camilo and Petit, Damien and Ramirez-Alpizar, Ixchel Georgina and Nishi, Takayuki and Kikuchi, Shinichi and Matsubara, Takamitsu and Harada, Kensuke},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {4},
     pages = {5709--5716},
     year = {2020},
     publisher = {IEEE},
     doi = {10.1109/LRA.2020.3010739},
     dimensions = {true}
   }

2019

1. RSJ

   Reinforcement Learning Framework for Real-world Robotic Arm

   Cristian Beltran, Damien Petit, Takamitsu Matsubara, Ixchel Ramirez-Alpizar, and Kensuke Harada

   In 第３7回日本ロボット学会学術講演会 RSJ2019, 2019

   Bib

   @inproceedings{beltran2019robotframework,
     title = {Reinforcement Learning Framework for Real-world Robotic Arm},
     author = {Beltran, Cristian and Petit, Damien and Matsubara, Takamitsu and Ramirez-Alpizar, Ixchel and Harada, Kensuke},
     booktitle = {第３7回日本ロボット学会学術講演会 RSJ2019},
     year = {2019},
     organization = {RSJ}
   }

2. SII

   

   Learning to Grasp with Primitive Shaped Object Policies

   Cristian C Beltran-Hernandez, Damien Petit, Ixchel G Ramirez-Alpizar, and Kensuke Harada

   In IEEE/SICE International Symposium on System Integration (SII), 2019

   Awarded DOI Bib PDF

   Best Paper Finalist

   @inproceedings{beltran2019learning,
     title = {Learning to Grasp with Primitive Shaped Object Policies},
     author = {Beltran-Hernandez, Cristian C and Petit, Damien and Ramirez-Alpizar, Ixchel G and Harada, Kensuke},
     booktitle = {IEEE/SICE International Symposium on System Integration (SII)},
     pages = {468--473},
     year = {2019},
     organization = {IEEE},
     doi = {10.1109/SII.2019.8700399},
   }

2018

1. RSJ

   Learning to grasp with guided policy search

   Cristian Beltran, Damien Petit, Takamitsu Matsubara, Ixchel Ramirez-Alpizar, and Kensuke Harada

   In 第３6回日本ロボット学会学術講演会 RSJ2018, 2018

   Awarded Bib

   International Session Best Paper Award Finalist

   @inproceedings{beltran2018GPS,
     title = {Learning to grasp with guided policy search},
     author = {Beltran, Cristian and Petit, Damien and Matsubara, Takamitsu and Ramirez-Alpizar, Ixchel and Harada, Kensuke},
     booktitle = {第３6回日本ロボット学会学術講演会 RSJ2018},
     year = {2018},
     organization = {RSJ},
   }

2. MIKE

   Industry 4.0, Intelligent Visual Assisted Picking Approach

   Mario Arbulu, Paola Mateus, Manuel Wagner, Cristian Beltran, and Kensuke Harada

   In International Conference on Mining Intelligence and Knowledge Exploration, 2018

   DOI Bib PDF

   @inproceedings{arbulu2018industry,
     title = {Industry 4.0, Intelligent Visual Assisted Picking Approach},
     author = {Arbulu, Mario and Mateus, Paola and Wagner, Manuel and Beltran, Cristian and Harada, Kensuke},
     booktitle = {International Conference on Mining Intelligence and Knowledge Exploration},
     pages = {205--214},
     year = {2018},
     organization = {Springer},
     doi = {10.1007/978-3-030-05918-7_18},
   }