Publications | Cristian C. Beltran-Hernandez

2022

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

Video Cite PDF 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},
  year = {2022},
  volume = {-},
  number = {-},
  pages = {-},
  doi = {10.1080/01691864.2022.2138541},
  video = {https://www.youtube.com/watch?v=Dm76puapISY&t=4s},
}

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

Video Cite PDF 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},
  video = {https://www.youtube.com/watch?v=Xzz_zt5BgAE},
}

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

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

arXiv preprint arXiv:2204.12844, 2022

Cite

@article{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}
}

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

Cite 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},
}

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

Cite

@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

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

Cite 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},
}

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

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

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

arXiv Cite

@inproceedings{wang2021robotic,
  author = {Wang, Yan and Beltran-Hernandez, Cristian C. and Wan, Weiwei and Harada, Kensuke},
  booktitle = {2021 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

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

Video Cite PDF

@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},
  video = {https://www.youtube.com/watch?v=v4fREpMk7kU&t=7s},
}

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

arXiv Video Cite PDF

@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},
  video = {https://www.youtube.com/watch?v=4wdIhQxD6cA},
  dimensions = {true}
}

2019

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

Cite

@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}
}

Learning to Grasp with Primitive Shaped Object Policies

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

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

Cite PDF

@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 = {2019 IEEE/SICE International Symposium on System Integration (SII)},
  pages = {468--473},
  year = {2019},
  organization = {IEEE},
  doi = {10.1109/SII.2019.8700399},
}

2018

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

Cite 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},
}