Mimo Shirasaka — accepted AI-conference papers

2026

Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery

Mimo Shirasaka, Cristian Camilo Beltran-Hernandez, Masashi Hamaya, Yoshitaka Ushiku

ICRA 2026poster

We address robust and resilient object insertion using a passively compliant soft wrist that permits large deformations and safely absorbs contacts, without high-frequency control or force sensing. To improve robustness, we structure the task as compliance-enabled contact formations: a sequence of c…

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2024

Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recovery

Mimo Shirasaka, Tatsuya Matsushima, Soshi Tsunashima, Yuya Ikeda, Aoi Horo, So Ikoma +6

ICRA 2024poster

A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environments. In this paper, we first developed a top-level GPSR system for worldwide competition (RoboCup@Home2023) based on mu…

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