| 2025 | IROS | Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization. | Akshay Jaitly, Devesh K. Jha, Kei Ota, Yuki Shirai |
| 2025 | ICRA | Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation Using Tight Convex Relaxations. | Yuki Shirai, Arvind U. Raghunathan, Devesh K. Jha |
| 2025 | ICRA | Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? | Yuki Shirai, Tong Zhao, H. J. Terry Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang, Max Simchowitz, Tao Pang |
| 2023 | ICRA | Covariance Steering for Uncertain Contact-rich Systems. | Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan |
| 2023 | ICRA | Tactile Tool Manipulation. | Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, Dennis W. Hong |
| 2022 | IROS | Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation. | Xuan Lin, Gabriel I. Fernandez, Yeting Liu, Taoyuanmin Zhu, Yuki Shirai, Dennis W. Hong |
| 2022 | IROS | Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots. | Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis W. Hong |
| 2022 | IROS | SCALER: A Tough Versatile Quadruped Free-Climber Robot. | Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis W. Hong |
| 2022 | ICRA | Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization. | Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, Diego Romeres |
| 2021 | IROS | An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights. | Yusuke Tanaka, Yuki Shirai, Zachary Lacey, Xuan Lin, Jane Liu, Dennis W. Hong |
| 2021 | ICRA | LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments. | Yuki Shirai, Xuan Lin, Ankur Mehta, Dennis W. Hong |