Yuki Shirai
Yuki Shirai
Ph.D. in Robotics
Email: yukishirai1926"AT"gmail.com
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About
About
I am Yuki Shirai, Postdoctoral Research Fellow at Mitsubishi Electric Research Laboratories (MERL). At MERL, I have been working on bimanual manipulation using trajectory optimization & deep reinforcement & imitation learning using vision and touch sensing toward multimodal learning.
What's new:
What's new:
[2025 Jun]: Our work is accepted for IROS2025! Also, our workshop, "IROS workshop on Climbing Robotics," was accepted for IROS2025!
[2025 Mar]: I was appointed as an Associate Editor for IEEE Robotics and Automation Letters (RA-L)!
[2025 Jal]: My work during my internship at BDAI and my work at MERL are accepted for 2025ICRA!
[2025 Sep]: I was appointed as an Associate Editor for 2025 ICRA!
[2024 Jul]: We were invited as a speaker to the "Theory and Algorithms for Chance Constrained Optimization session", in the "Continuous Stochastic Programming stream", at the ISMP 2024!
[2024 Jun]: Our paper, "Robust Pivoting Manipulation Using Contact Implicit Bilevel Optimization", has been accepted for the IEEE Transactions on Robotics (TRO)!
Old news can be found here.
Selected Publication
Selected Publication
Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations
Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations
Learning Visuotactile Tool Manipulation through Extrinsic Contact
Learning Visuotactile Tool Manipulation through Extrinsic Contact
Keywords: Multimodal Learning; Dexterous Manipulation; Visuotactile Estimation
under review.
Zhengtong Xu and Yuki Shirai
[coming...]
Goal-Conditioned Residual Diffusion Policy
Goal-Conditioned Residual Diffusion Policy
Keywords: Imitation Learning, Dexterous Manipulation
under review.
Yuki Shirai, Zhengtong Xu, Kei Ota, Diego Romeres, Devesh Jha
[coming...]
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Keywords: Dexterous Manipulation; Planning through Contact
ICRA 2025.
Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
[arxiv][video][IEEE Video Friday][poster]
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Keywords: Dexterous Manipulation; Control through Contact; Differentiable Simulation
ICRA 2025.
Yuki Shirai, Tong Zhao, H.J. Terry Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang, Max Simchowitz, Tao Pang
[arxiv][video][blog][IEEE Video Friday][poster]
Tactile Tool Manipulation
Tactile Tool Manipulation
Keywords: Dexterous Manipulation; Manipulation Planning; Optimization and Optimal Control
ICRA 2023. [Best Paper in the workshop, "Embracing contacts."! ]
Yuki Shirai, Devesh Jha, Arvind Raghunathan, and Dennis Hong
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Keywords: Manipulation Planning, Optimization and Optimal Control, Dexterous Manipulation
ICRA 2022 & IEEE TRO.
Yuki Shirai, Devesh Jha, Arvind Raghunathan, Diego Romeres.
[arxiv][poster][brief video][TRO video][TRO][IEEE Video Friday]
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Keywords: Legged Robots, Optimization and Optimal Control, Grasping
IROS2022
Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, and Dennis Hong.
[arxiv][video][presentation][poster]
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Keywords: Optimization and Optimal Control; Collision Avoidance; Computational Geometry
ICRA 2023.
Akshay Jaitly, Devesh Jha, Kei Ota, and Yuki Shirai
[coming...]
Covariance Steering for Uncertain Contact-Rich Systems
Covariance Steering for Uncertain Contact-Rich Systems
Keywords: Planning under Uncertainty; Optimization and Optimal Control; Manipulation Planning
ICRA 2023.
Yuki Shirai, Devesh K. Jha, and Arvind U. Raghunathan
[arxiv][presentation][poster]
SCALER: A Tough Versatile Quadruped Free-Climber Robot
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Keywords: Climbing Robots, Legged Robots, Grippers and Other End-Effectors
IROS2022 & TRO2025. Got SICE International Young Authors Award.
Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong
STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation
STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation
Keywords: Manipulation Planning; Optimization and Optimal Control; Dexterous Manipulation
Mengchao Zhang, Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, and Kris Hauser
[poster]
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
Keywords: Manipulation Planning, Optimization and Optimal Control, Dexterous Manipulation
ACC 2023.
Yuki Shirai, Devesh Jha, Arvind Raghunathan, Diego Romeres.
[arxiv]
Keywords: Motion and Path Planning, Optimization and Optimal Control
ICRA 2021.
Yuki Shirai, Xuan Lin, Ankur Mehta, and Dennis Hong.
[abs][pdf][video][presentation]
Keywords: Legged Robots, Motion and Path Planning, Optimization and Optimal Control
RA-L with the IROS 2020 option.
Yuki Shirai, Xuan Lin, Yusuke Tanaka, Ankur Mehta, and Dennis Hong.
[abs][pdf][video][presentation]
Keywords: Space Robotics and Automation, Climbing Robots, Grippers and Other End-Effectors.
RA-L with the ICRA 2018 option
Kenji Nagaoka, Hayato Minote, Kyohei Maruya, Yuki Shirai, Kazuya Yoshida, Takeshi Hakamada, Hirotaka Sawada, and Takashi Kubota.
Keywords: Legged Robots, Space Robotics and Automation
The 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space
Yuki Shirai, Hayato Minote, Kenji Nagaoka, and Kazuya Yoshida.
[pdf]
Awards
Awards
ICRA 2023 workshop, "Embracing contacts. Making robots physically interact with our world", 1st prize. (250£): Jun. 2023.
Ezoe Memorial Recruit Foundation Fellowship (The full amount of tuition plus a stipend for living expenses): Sep. 2020 - present
Funai Overseas Scholarship (The full amount of tuition plus a stipend of $2,500 a month for living expenses): Sep. 2018 - Aug. 2020
Hatakeyama Award: No.1 bachelor student in the School of Engineering at Tohoku University: Mar. 2018
Professional Services
Professional Services
Editor experience
Editor experience
IEEE RA-L
2025 ICRA
Workshop organizer
Workshop organizer
Peer-reviewer experience
Peer-reviewer experience
TRO (2024)
IJRR (2024).
ICRA (2021-2024).
IROS (2020-2023).
CDC (2023)
IEEE Access (2021).
Engineering Applications of Artificial Intelligence (2021-2022).
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