Publications

2024

1. 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

   @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)}
   }

2. 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

   Bib

   @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)}
   }

3. 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

   arXiv Bib

   @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},
   }

4. 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

   Best Video Bib PDF

   ICRA2024 - Cooking Robotics workshop

   @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},
   }

5. 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

   Best Poster Bib PDF Code

   ICRA2024 - Cooking Robotics workshop

   @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)},
   }

6. 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 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)},
   }

7. 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 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

   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

   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

   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

   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

   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

   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

   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

   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

   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

   Awareded 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. 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

   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},
   }