SoLa - Tung Laboratory, Keio University SFC

2026

T. Le, K. Nguyen, B. Huang, T. D. Ta, and A. Nguyen, “CADKnitter: Compositional CAD Generation from Text and Geometry Guidance,” ACM SIGGRAPH Asia 2026 Conference Papers, 2026. URL forthcoming. DOI forthcoming. International Conferences
H. Zhang, Z. Luo, T. Li, K. Nguyen, B. Hela, S. Kumar, N. D. Tran, F. Dai, C. Munasinghe, J. P. Queralta, G. Toffetti, K. Vo, N. Le, R. Prakash, Q. Vuong, T. D. Ta, L. Hu, A. Nguyen, and B. Huang, “Gripper-aware Vision Language Action Models,” European Conference on Computer Vision (ECCV), 2026. OpenReview PDF. International Conferences
H. Zhang, K. Nguyen, C. Munasinghe, B. Hela, T. Li, Z. Luo, H. Nguyen, H. W. van de Venn, Y. Zheng, R. Prakash, T. D. Ta, A. Nguyen, and B. Huang, “Beyond Visual Grasping: Benchmarking Complex Robotic Grasping from Detection to Execution,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026. arXiv forthcoming. DOI forthcoming. International Conferences
T. Le, T. Nguyen, Q. Tran, Q. Nguyen, B. Huang, H. Nguyen, M. N. Vu, T. D. Ta, and A. Nguyen, “RoboDesign1M: A Large-scale Dataset for Robot Design Understanding,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026. arXiv PDF DOI. International Conferences
N. D. Tran, Y. Fan, F. Dai, K. Nguyen, A. Nguyen, H. H. Ly, T. D. Ta, and S. Chiba, “Probe-to-Grasp Manipulation Using Self-Sensing Pneumatic Variable-Stiffness Joints,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026. arXiv PDF DOI. International Conferences
X.-T. Nguyen, K. N. Nguyen, N. D. Tran, T. T. Mac, A. Nguyen, H. H. Ly, and T. D. Ta, “MobiDock: Design and Control of A Modular Self Reconfigurable Bimanual Mobile Manipulator via Robotic Docking,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026. arXiv PDF DOI. International Conferences

2025

C. Caremel, K. Nguyen, A. Nguyen, M. Huber, Y. Kawahara, T. D. Ta, “Modeling The States of Liquid Phase Change Pouch Actuators by Reservoir Computing,” IROS 2025. International Conferences
Q. Nguyen, T. Le, H. Nguyen, T. Vo, T. D. Ta, B. Huang, M. N. Vu, A. Nguyen, “GraspMAS: Zero-Shot Language-driven Grasp Detection with Multi-Agent System,” IROS 2025. International Conferences
T. Jianu, S. Doust, M. Li, B. Huang, T. Do, H. Nguyen, K. Bates, T. D. Ta, S. Fichera, P. Berthet-Rayne, and A. Nguyen, “SplineFormer: An Explainable Transformer-Based Approach for Autonomous Endovascular Navigation,” IROS 2025. International Conferences
D. N. Tran, H. H. Ly, T. X. Nguyen, T. T. Mac, A. Nguyen, and T. D. Ta, “Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects,” ICRA 2025. International Conferences
Ngoc-Duy Tran, Hoang-Hiep Ly, Xuan-Thuan Nguyen, Thi-Thoa Mac, Anh Nguyen, and T. D. Ta, “Soft Joints Grippers for Grasping Deformable Thin Objects,” Robomech 2025. Domestic Conferences

2024

T. D. Ta, “Single Actuator Undulation Soft-bodied Robots Using A Precompressed Variable Thickness Flexible Beam,” IROS 2024. International Conferences
S. Feng, T. D. Ta, Shichao Huang, Xiaolong Li, Kazuki Koyama, Guanyun Wang, Cheng Yao, Yoshihiro Kawahara, and Koya Narumi, “Rapid Fabrication of Haptic and Electric Input Interfaces Using 4D Printed Origami,” CHI EA 2024. International Workshops/Demos
Y. Xia, T. D. Ta, 亀崎允啓, and 川原圭博, “Pipeline for the Modeling and Simulation of Soft Snake Robots Considering Complex Friction Information,” IPSJ 2024. Domestic Conferences

2023

T. D. Ta, Y. Kawahara, “Printable Bistable Structures for Programmable Frictional Skins of Soft-Bodied Robots,” IROS 2023. International Conferences

2022

C. Caremel, M. Ishige, T. D. Ta, Y. Kawahara, “Echo States Network for Soft Actuator Control,” Journal of Robotics and Mechatronics, 2022. Journals
T. D. Ta, T. Umedachi, M. Suzuki, Y. Kawahara, “A Printable Soft-bodied Wriggle Robot with Frictional 2D-Anisotropy Surface,” Journal of Information Processing, 2022. Journals
T. D. Ta, Z. Chang, K. Narumi, T. Umedachi, and Y. Kawahara, “Printable Kirigami Bistable Structures for Foldable Jumpers,” ICRA 2022. International Conferences

2021

T. Tseng, Y. Murai, N. Freed, D. Gelosi, T. D. Ta, and Y. Kawahara, “PlushPal: Storytelling with Interactive Plush Toys and Machine Learning,” IDC 2021. International Conferences
R. Hidaka, T. D. Ta, T. Umedachi, “Flexible Locomotion Robot Consisting of Sensors and Actuators Printed with Silver Nano-ink,” Robomec 2021. Domestic Conferences

2020

T. Cheng, K. Narumi, Y. Do, Y. Zhang, T. D. Ta, T. Sasatani, E. Markvicka, Y. Kawahara, L. Yao, G. D. Abowd, and H. Oh, “Silver Tape: Inkjet-Printed Circuits Peeled-and-Transferred on Versatile Substrates,” Proc. ACM IMWUT, 2020. Journals
T. D. Ta, T. Umedachi, Y. Kawahara, “A Multigait Stringy Robot with Bi-stable Soft-bodied Structures in Multiple Viscous Environments,” IROS 2020. International Conferences
Z. Chang, T. D. Ta, K. Narumi, H. Kim, F. Okuya, D. Li, K. Kato, J. Qi, Y. Miyamoto, K. Saito, and Y. Kawahara, “Kirigami Haptic Swatches: Design Methods for Cut-and-Fold Haptic Feedback Mechanisms,” CHI 2020. International Conferences
Z. Chang, T. D. Ta, K. Narumi, H. Kim, F. Okuya, D. Li, K. Kato, J. Qi, Y. Miyamoto, K. Saito, and Y. Kawahara, “Demonstrating Kirigami Haptic Swatches for Cut-and-Fold Haptic Feedback Mechanisms,” CHI EA 2020. International Workshops/Demos
S. Yamanaka, T. D. Ta, K. Tsubouchi, F. Okuya, K. Kato, K. Tsushio, and Y. Kawahara, “SheetKey: Generating Touch Events by a Pattern Printed with Conductive Ink for User Authentication,” Graphics Interface 2020. International Conferences

2019

T. D. Ta, T. Umedachi, Y. Kawahara, “Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots,” ICRA 2019. International Conferences
Z. Chang, H. Kim, K. Kato, K. Saito, T. D. Ta, W. Jiang, K. Narumi, Y. Miyamoto, and Y. Kawahara, “Kirigami Keyboard: Inkjet Printable Paper Interface with Kirigami Structure Presenting Kinesthetic Feedback,” CHI EA 2019. International Workshops/Demos
T. Umedachi, T. D. Ta, S. Masahiro, Y. Kawahara, “Autonomous Decentralized Control on Caterpillar-inspired Robot Developed with Silver-nano Ink and Discrepancy Function,” 31st Autonomous Distributed Systems Symposium, 2019. Domestic Conferences

2018

T. D. Ta, F. Okuya, Y. Kawahara, “Traveling Salesman Problem Based Auto-router for LED Applications with Conductive Inkjet Printing,” SICE JCMSI, 2018. Journals
D. Li, K. Saito, T. Umedachi, T. D. Ta, and Y. Kawahara, “Origami Robots with Flexible Circuit Sheets,” ACM UbiComp 2018. International Conferences
H. Oh, T. D. Ta, R. Suzuki, M. D. Gross, Y. Kawahara, and L. Yao, “PEP (3D Printed Electronic Papercrafts): An Integrated Approach for 3D Sculpting Paper-Based Electronic Devices,” ACM CHI 2018. International Conferences
T. D. Ta, T. Umedachi, and Y. Kawahara, “Design of Frictional 2D-Anisotropy Surface for Wriggle Locomotion of Printable Soft-Bodied Robots,” ICRA 2018. International Conferences
鳴海紘也, T. Cheng, T. D. Ta, 川原圭博, and L. Yao, “Evaluation Method for Transferring Silver Nano-particle Ink Circuits onto Diverse Substrates,” IEICE Society Conference 2018. Domestic Conferences
森田雅博, 梅舘拓也, T. D. Ta, and 川原圭博, “Caterpillar-inspired Robot that Climbs over Steps and Walls,” IEICE Society Conference 2018. Domestic Conferences

2017

T. D. Ta, F. Okuya, Y. Kawahara, “LightTrace: Auto-router for Designing LED Based Applications with Conductive Inkjet Printing,” ACM SCF 2017. International Conferences
T. D. Ta, F. Okuya, Y. Kawahara, “Traveling Salesman Problem Based Conductive Inkjet Printed Pattern Generation for Brightness Balancing of Multiple LEDs,” IPSJ National Convention 2017. Domestic Conferences
T. D. Ta, F. Okuya, Y. Kawahara, “Traveling Salesman Problem Based Conductive Inkjet Printed Pattern Generation for 4-Color LEDs Brightness Balance,” IEICE Society Conference 2017. Domestic Conferences

2016

T. D. Ta, M. Mizoguchi, Y. Kawahara, T. Asami, “Error Reduction in Capacitive Based Water Level Sensor for Paddy Field,” IEICE General Conference 2016. Domestic Conferences

2015

T. D. Ta, M. Fukumoto, K. Narumi, S. Shino, Y. Kawahara, T. Asami, “Interconnection and Double Layer for Flexible Electronic Circuit with Instant Inkjet Circuits,” ACM UbiComp 2015. International Conferences
T. D. Ta, K. Narumi, Y. Kawahara, “Assistant Tools and Techniques for Conductive Inkjet Printing Technology,” ACM UbiComp GadgetShow Plus Demo 2015. International Workshops/Demos
T. D. Ta, Y. Kawahara, T. Asami, “Approach to Controlling Smartphone-based Virtual Reality Head-Mounted Devices Through Touch Screen Indirectly,” IEICE General Conference 2015. Domestic Conferences

2014

T. D. Ta, Y. Kawahara, “Implementation of Via Hole and Multi-layered Circuit with Instant Inkjet Circuit,” Microsoft Research Asia Faculty Summit 2014. Speeches
T. D. Ta, W. Wei, Q. D. Minh, Y. Kawahara, T. Asami, “Tweaking Printer Driver for Improved Conductivity in Instant Inkjet Circuits,” IPSJ UBI Report 2014. Domestic Conferences
T. D. Ta, W. Wei, Q. D. Minh, Y. Kawahara, T. Asami, “Modified Printer Driver to Improve Conductivity of Ink-jet Printed Silver Ink Pattern by Over-Printing,” IEICE General Conference 2014. Domestic Conferences