Fast MILP-based Task and Motion Planning for Pick-and-Place with Hard/Soft Constraints of Collision-Free Route. - Takuma Kogo; Kei Takaya; Hiroyuki Oyama (SMC, 2021)

Metaheuristics Approach for Mathematical Programs with Switching Constraints and Application to Robotic Task Planning. - Kei Takaya; Rin Takano; Hiroyuki Oyama (SMC, 2022)

NFPDE: Normalizing Flow-based Parameter Distribution Estimation for Offline Adaptive Domain Randomization. - Rin Takano; Kei Takaya; Hiroyuki Oyama (IROS, 2024)