Yuki Shirai
- Phone: 617-621-7503
- Email:
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Position:
Research / Technical Staff
Postdoctoral Research Fellow -
Education:
Ph.D., University of California, Los Angeles, 2024 -
Research Areas:
External Links:
Yuki's Quick Links
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Biography
Yuki's research focuses on planning, estimation, and control for contact-rich manipulation and locomotion, from spanning free-climbing robots to robotic tool manipulation. In particular, he has been working on contact-implicit trajectory optimization, stochastic optimization, contact modeling, and contact estimation using tactile sensing. His current research interests lie in the intersection of optimization and learning.
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MERL Publications
- "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.BibTeX TR2024-008 PDF
- @article{Shirai2024dec,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming},
- journal = {Nonlinear Analysis: Hybrid Systems},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-008}
- }
, - "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", IEEE Transactions on Robotics, DOI: 10.1109/TRO.2024.3422053, pp. 3425-3444, July 2024.BibTeX TR2024-096 PDF Video
- @article{Shirai2024jul,
- author = {{Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind}},
- title = {Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization},
- journal = {IEEE Transactions on Robotics},
- year = 2024,
- pages = {3425--3444},
- month = jul,
- doi = {10.1109/TRO.2024.3422053},
- issn = {1941-0468},
- url = {https://www.merl.com/publications/TR2024-096}
- }
, - "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.BibTeX TR2023-120 PDF
- @inproceedings{Shirai2023sep,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
- booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
- year = 2023,
- month = sep,
- url = {https://www.merl.com/publications/TR2023-120}
- }
, - "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/ACC55779.2023.10156516, May 2023, pp. 14-21.BibTeX TR2023-061 PDF
- @inproceedings{Shirai2023may4,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization in Contact-rich Systems},
- booktitle = {American Control Conference (ACC)},
- year = 2023,
- pages = {14--21},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC55779.2023.10156516},
- url = {https://www.merl.com/publications/TR2023-061}
- }
, - "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10160249, May 2023, pp. 7923-7929.BibTeX TR2023-024 PDF
- @inproceedings{Shirai2023may3,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Covariance Steering for Uncertain Contact-Rich Systems},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {7923--7929},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160249},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-024}
- }
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- "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.
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Other Publications
- "SCALER: A Tough Versatile Quadruped Free-Climber Robot", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 5632-5639.BibTeX
- @Inproceedings{9981555,
- author = {Tanaka, Yusuke and Shirai, Yuki and Lin, Xuan and Schperberg, Alexander and Kato, Hayato and Swerdlow, Alexander and Kumagai, Naoya and Hong, Dennis},
- title = {SCALER: A Tough Versatile Quadruped Free-Climber Robot},
- booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2022,
- pages = {5632--5639}
- }
, - "Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 13563-13570.BibTeX
- @Inproceedings{9981579,
- author = {Shirai, Yuki and Lin, Xuan and Schperberg, Alexander and Tanaka, Yusuke and Kato, Hayato and Vichathorn, Varit and Hong, Dennis},
- title = {Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots},
- booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2022,
- pages = {13563--13570}
- }
, - "LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments", 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7533-7539.BibTeX
- @Inproceedings{9561502,
- author = {Shirai, Yuki and Lin, Xuan and Mehta, Ankur and Hong, Dennis},
- title = {LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments},
- booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2021,
- pages = {7533--7539}
- }
, - "Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming", IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 4994-5001, 2020.BibTeX
- @Article{9113247,
- author = {Shirai, Yuki and Lin, Xuan and Tanaka, Yusuke and Mehta, Ankur and Hong, Dennis},
- title = {Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming},
- journal = {IEEE Robotics and Automation Letters},
- year = 2020,
- volume = 5,
- number = 4,
- pages = {4994--5001}
- }
, - "Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain", IEEE Robotics and Automation Letters, Vol. 3, No. 3, pp. 1765-1770, 2018.BibTeX
- @Article{8260908,
- author = {Nagaoka, Kenji and Minote, Hayato and Maruya, Kyohei and Shirai, Yuki and Yoshida, Kazuya and Hakamada, Takeshi and Sawada, Hirotaka and Kubota, Takashi},
- title = {Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain},
- journal = {IEEE Robotics and Automation Letters},
- year = 2018,
- volume = 3,
- number = 3,
- pages = {1765--1770}
- }
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- "SCALER: A Tough Versatile Quadruped Free-Climber Robot", 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 5632-5639.