1 citations · 1 across the 16 of their papers we have counts for
5 papers · 1 filter
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
Malek Aburub, Cristian C. Beltran-Hernandez, Tatsuya Kamijo +1
Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging…
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training
Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen +1
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured e…
Near-Optimal Policy Identification in Robust Constrained Markov Decision Processes via Epigraph Form
Toshinori Kitamura, Tadashi Kozuno, Wataru Kumagai +6
Designing a safe policy for uncertain environments is crucial in real-world control systems. However, this challenge remains inadequately addressed within the Markov decision proce…
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System
Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands,…
SliceIt! -- A Dual Simulator Framework for Learning Robot Food Slicing
Cristian C. Beltran-Hernandez, Nicolas Erbetti, Masashi Hamaya
Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environ…