| 2025 | CVPR | ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping. | Shun Iwase, Muhammad Zubair Irshad, Katherine Liu, Vitor Guizilini, Robert Lee, Takuya Ikeda, Ayako Amma, Koichi Nishiwaki, Kris Kitani, Rares Ambrus, Sergey Zakharov |
| 2025 | ICRA | OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real World. | Katherine Liu, Sergey Zakharov, Dian Chen, Takuya Ikeda, Greg Shakhnarovich, Adrien Gaidon, Rares Ambrus |
| 2025 | IROS | Simultaneous Pick and Place Detection by Combining SE(3) Diffusion Models with Differential Kinematics. | Tianyi Ko, Takuya Ikeda, Balzs Opra, Koichi Nishiwaki |
| 2024 | CoRL | A Planar-Symmetric SO(3) Representation for Learning Grasp Detection. | Tianyi Ko, Takuya Ikeda, Hiroya Sato, Koichi Nishiwaki |
| 2024 | ECCV | GS-Pose: Category-Level Object Pose Estimation via Geometric and Semantic Correspondence. | Pengyuan Wang, Takuya Ikeda, Robert Lee, Koichi Nishiwaki |
| 2024 | IROS | DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation. | Takuya Ikeda, Sergey Zakharov, Tianyi Ko, Muhammad Zubair Irshad, Robert Lee, Katherine Liu, Rares Ambrus, Koichi Nishiwaki |
| 2024 | IROS | Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands. | Tianyi Ko, Takuya Ikeda, Thomas Stewart, Robert Lee, Koichi Nishiwaki |
| 2023 | ICRA | A Probabilistic Rotation Representation for Symmetric Shapes With an Efficiently Computable Bingham Loss Function. | Hiroya Sato, Takuya Ikeda, Koichi Nishiwaki |
| 2022 | IROS | Sim2Real Instance-Level Style Transfer for 6D Pose Estimation. | Takuya Ikeda, Suomi Tanishige, Ayako Amma, Michael Sudano, Herv Audren, Koichi Nishiwaki |
| 2020 | IROS | Soft-bubble grippers for robust and perceptive manipulation. | Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, Russ Tedrake |
| 2012 | ICPR | Illumination estimation from shadow and incomplete object shape captured by an RGB-D camera. | Takuya Ikeda, Yuji Oyamada, Maki Sugimoto, Hideo Saito |