Publications

2024

  1. icra2024_sliceit.png
    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
  2. icra2024_hai.png
    Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
    Hai Nguyen , Tadashi KozunoCristian C. Beltran-Hernandez, and Masashi Hamaya
    IEEE International Conference on Robotics and Automation (ICRA), 2024
  3. icra2024_vilan.png
    Vision-Language Interpreter for Robot Task Planning
    Keisuke Shirai , Cristian C. Beltran-HernandezMasashi Hamaya, Atsushi Hashimoto , Shohei Tanaka , and 4 more authors
    IEEE International Conference on Robotics and Automation (ICRA), 2024

2023

  1. iros2022.png
    Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing
    Joaquin Royo-MiquelMasashi HamayaCristian C. Beltran-Hernandez, and Kazutoshi Tanaka
    IEEE International Conference on Robotics and Automation (IROS), 2023

2022

  1. ar2022.jpg
    Team O2AC at the World Robot Summit 2020: Towards Jigless, High-Precision Assembly
    Felix DrigalskiKazumi KasauraCristian C. Beltran-HernandezMasashi HamayaKazutoshi Tanaka, and 1 more author
    Advance Robotics, 2022
  2. ihpe2022.png
    Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry
    Felix DrigalskiKazumi KasauraCristian C. Beltran-HernandezMasashi HamayaKazutoshi Tanaka, and 1 more author
    IEEE Robotics and Automation Letters, 2022
  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
    arXiv preprint arXiv:2204.12844, 2022
  4. frontiers2022.jpg
    An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks
    Yan WangCristian C Beltran-HernandezWeiwei Wan, and Kensuke Harada
    Frontiers in Robotics and AI, 2022
  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

2021

  1. ieeeaccess2021.png
    Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework
    Yan WangCristian C. Beltran-HernandezWeiwei Wan, and Kensuke Harada
    IEEE Access, 2021
  2. ICRA
    Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning
    Yan WangCristian C. Beltran-HernandezWeiwei Wan, and Kensuke Harada
    In IEEE International Conference on Robotics and Automation (ICRA) , 2021

2020

  1. mdpi2020.png
    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
  2. iros2020.png
    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. RSJ
    Reinforcement Learning Framework for Real-world Robotic Arm
    Cristian Beltran, Damien Petit , Takamitsu MatsubaraIxchel Ramirez-Alpizar, and Kensuke Harada
    In 第37回日本ロボット学会学術講演会 RSJ2019 , 2019
  2. sii2019.png
    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

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