Cristian C. Beltran-Hernandez

36 papers A* 5A 4Journal 22Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Soft Wrist with Anisotropic and Selectable Stiffness for Robust Robot Learning in Contact-rich Manipulation.
CoRR
Steven Oh, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Masashi Hamaya
2026 — conf
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation.
SII
Malek Aburub, Cristian C. Beltran-Hernandez, Tatsuya Kamijo, Masashi Hamaya
2026 — conf
Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand.
SII
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Kazutoshi Tanaka, Masashi Hamaya
2026 J jnl
Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand.
CoRR
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Kazutoshi Tanaka, Masashi Hamaya
2026 J jnl
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist.
CoRR
Tatsuya Kamijo, Mai Nishimura, Cristian C. Beltran-Hernandez, Nodoka Shibasaki, Masashi Hamaya
2025 J jnl
Grounded Vision-Language Interpreter for Integrated Task and Motion Planning.
CoRR
Jeremy Siburian, Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Michael Görner, Atsushi Hashimoto
2025 J jnl
KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks.
IEEE Access
Edgar Anarossi, Yuhwan Kwon, Hirotaka Tahara, Shohei Tanaka, Keisuke Shirai, Masashi Hamaya, Cristian C. Beltran-Hernandez, Atsushi Hashimoto, Takamitsu Matsubara
2025 J jnl
KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks.
CoRR
Edgar Anarossi, Yuhwan Kwon, Hirotaka Tahara, Shohei Tanaka, Keisuke Shirai, Masashi Hamaya, Cristian C. Beltran-Hernandez, Atsushi Hashimoto, Takamitsu Matsubara
2025 J jnl
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control.
CoRR
Rewida Ali, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2025 — conf
PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation.
ICORR
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka
2025 J jnl
PLEXUS Hand: Lightweight Four-Motor Prosthetic Hand Enabling Precision-Lateral Dexterous Manipulation.
CoRR
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka
2025 — conf
Practical Task and Motion Planning for Robotic Food Preparation.
SII
Jeremy Siburian, Cristian C. Beltran-Hernandez, Masashi Hamaya
2025 J jnl
Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery.
CoRR
Mimo Shirasaka, Cristian C. Beltran-Hernandez, Masashi Hamaya, Yoshitaka Ushiku
2025 A* conf
SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes.
ICRA
Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku
2025 J jnl
SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes.
CoRR
Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku
2024 J jnl
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation.
CoRR
Malek Aburub, Cristian C. Beltran-Hernandez, Tatsuya Kamijo, Masashi Hamaya
2024 A conf
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System.
IROS
Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
2024 J jnl
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System.
CoRR
Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
2024 A conf
Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism Driven by Position-Control Servomotors.
IROS
Mirai Shinjo, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka
2024 A conf
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training.
IROS
Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen, Masashi Hamaya
2024 J jnl
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training.
CoRR
Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen, Masashi Hamaya
2024 A* conf
SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing.
ICRA
Cristian C. Beltran-Hernandez, Nicolas Erbetti, Masashi Hamaya
2024 J jnl
SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing.
CoRR
Cristian C. Beltran-Hernandez, Nicolas Erbetti, Masashi Hamaya
2024 A* conf
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist.
ICRA
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez, Masashi Hamaya
2024 J jnl
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist.
CoRR
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez, Masashi Hamaya
2024 A* conf
Vision-Language Interpreter for Robot Task Planning.
ICRA
Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, Shinsuke Mori
2023 A conf
Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing.
IROS
Joaquín Royo-Miquel, Masashi Hamaya, Cristian C. Beltran-Hernandez, Kazutoshi Tanaka
2023 J jnl
Vision-Language Interpreter for Robot Task Planning.
CoRR
Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, Shinsuke Mori
2022 J jnl
Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study.
CoRR
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2022 J jnl
Team O2AC at the world robot summit 2020: towards jigless, high-precision assembly.
Adv. Robotics
Felix von Drigalski, Cristian C. Beltran-Hernandez, Chisato Nakashima, Zhengtao Hu, Shuichi Akizuki, Toshio Ueshiba, Manabu Hashimoto, Kazumi Kasaura, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2022 J jnl
Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry.
IEEE Robotics Autom. Lett.
Felix von Drigalski, Kazumi Kasaura, Cristian C. Beltran-Hernandez, Masashi Hamaya, Kazutoshi Tanaka, Takamitsu Matsubara
2021 J jnl
An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks.
Frontiers Robotics AI
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 J jnl
Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework.
IEEE Access
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 A* conf
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning.
ICRA
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 J jnl
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning.
CoRR
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2019 — conf
Learning to Grasp with Primitive Shaped Object Policies.
SII
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada