2024 SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing Cristian C. Beltran-Hernandez , Nicolas Erbetti , and Masashi Hamaya IEEE International Conference on Robotics and Automation (ICRA), 2024 Bib @article{beltran2024sliceit, title = {SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing}, author = {Beltran-Hernandez, Cristian C. and Erbetti, Nicolas and Hamaya, Masashi}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2024} } Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist Hai Nguyen , Kozuno Tadashi , Cristian C. Beltran-Hernandez , and Masashi Hamaya IEEE International Conference on Robotics and Automation (ICRA), 2024 Bib @article{hai2023symmetry, title = {Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist}, author = {Nguyen, Hai and Tadashi, Kozuno and Beltran-Hernandez, Cristian C. and Hamaya, Masashi}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2024} } Vision-Language Interpreter for Robot Task Planning Keisuke Shirai , Cristian C. Beltran-Hernandez , Masashi Hamaya , Atsushi Hashimoto , Shohei Tanaka , and 4 more authors IEEE International Conference on Robotics and Automation (ICRA), 2024 Bib PDF @article{shirai2023vision, title = {Vision-Language Interpreter for Robot Task Planning}, 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}, journal = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2024} } 2023 Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing Joaquin Royo-Miquel , Masashi Hamaya , Cristian C. Beltran-Hernandez , and Kazutoshi Tanaka IEEE International Conference on Robotics and Automation (IROS), 2023 Bib PDF Video @article{royo2023learning, title = {Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing}, author = {Royo-Miquel, Joaquin and Hamaya, Masashi and Beltran-Hernandez, Cristian C. and Tanaka, Kazutoshi}, journal = {IEEE International Conference on Robotics and Automation (IROS)}, year = {2023}, organization = {IEEE}, } 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 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}, year = {2022}, volume = {-}, number = {-}, pages = {-}, doi = {10.1080/01691864.2022.2138541}, } 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}, } 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 arXiv preprint arXiv:2204.12844, 2022 Bib @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 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}, } 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 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}, } 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 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}, } 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 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} } 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 Bib 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 = {IEEE/SICE International Symposium on System Integration (SII)}, pages = {468--473}, year = {2019}, organization = {IEEE}, doi = {10.1109/SII.2019.8700399}, } 2018 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}, }