Publications

2022

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    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
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    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
  3. 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
  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
  5. 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

2021

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    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
  2. 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

2020

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    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
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    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

2019

  1. 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
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    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

2018

  1. 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