David Filliat
Présentation
Je suis directeur de recherche à l’Agence Ministérielle pour l’Intelligence Artificielle de Défense. Mes recherches portent sur la robotique, et plus particulièrement sur les problèmes de perception et d’apprentissage. Je cherche à développer des méthodes pour simplifier et renforcer l’utilisation des robots et accroître leur autonomie. Je m’intéresse notamment à :
Publications
Publications
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Interpretable Rule Learning for Reactive Activity Recognition in Event-Driven RL EnvironmentsEighteenth European Workshop on Reinforcement Learning, Sep 2025, Tubingen Germany, France |
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Exploration d'environnements souterrains par déploiement et réorganisation d'une chaîne de dronesJFSMA 2025 - Journées Francophones des Système Multi-Agents, Jul 2025, Dijon, France |
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Recovering Dense Metric Depth in Indoor Scenes from Monocular Depth Foundation Models and 2D LiDARsEuropean Robotics Forum, Mar 2025, Stuttgart, Germany. pp.236-241, ⟨10.1007/978-3-031-89471-8_36⟩ |
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Analyse des modèles de fondation pour la navigation tout-terrainJournée Défense et Intelligence Artificielle, Plate-Forme Intelligence Artificielle (PFIA 2025), Jul 2025, Dijon, France |
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NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval22nd International Conference on Informatics in Control, Automation and Robotics, Oct 2025, Marbella, France. pp.139-149, ⟨10.5220/0013806300003982⟩ |
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Improving Off-Road LiDAR Semantic Segmentation with Spatial Context and Auxiliary TasksEuropean Robotic Forum, Mar 2025, Stuttgart (Germany), Germany. pp.300-306, ⟨10.1007/978-3-031-89471-8_46⟩ |
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Exploring Underground Environments by Deploying and Reconfiguring a Chain of Visually Connected UAVsECMR 2025 - European Conference on Mobile Robots, Sep 2025, Padoue, Italy. pp.1-7 |
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Improved monocular depth prediction using distance transform over pre-semantic contours with self-supervised neural networks2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2025, Nashville, France. pp.21868-21879, ⟨10.1109/CVPR52734.2025.02037⟩ |
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Communication strategies for environment exploration using a frontier-guided Decentralised MCTSIEEE International Symposium on Multi-Robot & Multi-Agent Systems, Dec 2025, Singapour, Singapore |
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Improving Domain Generalisable LiDAR Semantic Segmentation In Off-Road Environments with Auxiliary Tasks2025 European Conference on Mobile Robots (ECMR), Sep 2025, Padova, Italy. pp.1-6, ⟨10.1109/ECMR65884.2025.11163269⟩ |
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On double descent in reinforcement learning with LSTD and random featuresICLR 2024 - The Twelfth International Conference on Learning Representations, May 2024, Vienna, Austria |
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InfraParis: A multi-modal and multi-task autonomous driving datasetWACV 2024 - IEEE/CVF Winter Conference on Applications of Computer Vision, Jan 2024, Waikoloa, United States. ⟨10.1109/WACV57701.2024.00295⟩ |
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A probabilistic approach for learning and adapting shared control skills with the human in the loopICRA 2024 - IEEE International Conference on Robotics and Automation, May 2024, YOKOHAMA, Japan |
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Open the Chests: An Environment for Activity Recognition and Sequential Decision Problems Using Temporal LogicInternational Symposium on Temporal Representation and Reasoning (TIME), Oct 2024, Montpellier, France. ⟨10.4230/LIPIcs.TIME.2024.5⟩ |
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Rebalancing gradient to improve self-supervised co-training of depth, odometry and optical flow predictionsWACV 2023, Jan 2023, Waikoloa (Hawaii), United States. pp.1267-1276 |
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VIBR: Learning View-Invariant Value Functions for Robust Visual ControlCoLLAs 2023 - 2nd Conference on Lifelong Learning Agents, Aug 2023, Montréal, Canada. pp.658--682, ⟨10.48550/arXiv.2306.08537⟩ |
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Navigation among movable obstacles using machine learning based total time cost optimizationIROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit (MI), United States |
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Task and motion planning methods: applications and limitationsICINCO 2022 - 19th International Conference on Informatics in Control, Automation and Robotics, Jul 2022, Lisbonne, Portugal. pp.476-483, ⟨10.5220/0011314000003271⟩ |
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Domain invariant Q-learning for model-free robust continuous control under visual distractionsNeurIPS 2022 - Deep Reinforcement Learning Workshop, Dec 2022, Virtual, United States |
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Latent Discriminant deterministic UncertaintyEuropean Conference on Computer Vision (ECCV 2022), Oct 2022, Tel Aviv,, Israel. ⟨10.1007/978-3-031-19775-8_15⟩ |
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Using Semantic Information to Improve Generalization of Reinforcement Learning Policies for Autonomous DrivingIEEE/CVF Winter Conference on Applications of Computer Vision (WACV) Workshops, Jan 2021, Hawaii (on line), United States |
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S-TRIGGER: Continual State Representation Learning via Self-Triggered Generative ReplayIJCNN 2021 - International Joint Conference on Neural Networks, Jul 2021, Shenzhen / Virtual, China. pp.1-7, ⟨10.1109/IJCNN52387.2021.9533683⟩ |
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Evaluating Robustness over High Level Driving Instruction for Autonomous DrivingIV 2021 - 32nd IEEE Intelligent Vehicles Symposium, Jul 2021, Nagoya, Japan |
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On the Sensory Commutativity of Action Sequences for Embodied AgentsWorkshop on Learning in Artificial Open Worlds at ICML20, Jul 2020, Online, France |
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RobotDrlSim: A real time robot simulation platform for reinforcement learning and human interactive demonstration learningMSOTA 2020 - 3rd International Conference on Modeling, Simulation and Optimization Technologies and Applications, Nov 2020, Beijing / Virtual, China |
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Trajectory Prediction of Traffic Agents: Incorporating context into machine learning approachesVTC2020-Spring- 2020 IEEE 91st Vehicular Technology Conference, May 2020, Antwerp / Virtual, Belgium |
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Object Detection for Embodied Agents using Sensory Commutativity of Action SequencesNeurIPS 2020 Workshop on BabyMind, Dec 2020, Vancouver / Virtual, Canada |
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Continual Reinforcement Learning deployed in Real-life using Policy Distillation and Sim2Real TransferICML Workshop on “Multi-Task and Lifelong Reinforcement Learning”, Jun 2019, Long Beach, United States |
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Deep unsupervised state representation learning with robotic priors: a robustness analysisIJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary. pp.1-8, ⟨10.1109/IJCNN.2019.8852042⟩ |
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Marginal Replay vs Conditional Replay for Continual LearningICANN, 2019, Munich, Germany |
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DISCORL: Continual reinforcement learning via policy distillationNeurIPS workshop on Deep Reinforcement Learning, Dec 2019, Vancouver, Canada |
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Decoupling feature extraction from policy learning: assessing benefits of state representation learning in goal based roboticsSPiRL 2019 : Workshop on Structure and Priors in Reinforcement Learning at ICLR 2019, May 2019, Nouvelle Orléans, United States |
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Symmetry-Based Disentangled Representation Learning requires Interaction with EnvironmentsNeurIPS 2019 6 Neural Information Processing Conference, Dec 2019, Vancouver, Canada |
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Training Discriminative Models to Evaluate Generative OnesICANN, 2019, Munich, Germany |
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Generative Models from the perspective of Continual LearningIJCNN - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary |
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Applying map-masks to Trajectory Prediction for Interacting Traffic-AgentsDeep Learning for Automated Driving (DLAD) workshop, IEEE International Conference on Intelligent Transportation Systems, Oct 2019, Auckland, New Zealand |
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Flatland: a Lightweight First-Person 2-D Environment for Reinforcement LearningWorkshop on Continual Unsupervised Sensorimotor Learning, ICDL-EpiRob 2018, Sep 2018, Tokyo, Japan |
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Don't forget, there is more than forgetting: new metrics for Continual LearningWorkshop on Continual Learning, NeurIPS 2018 (Neural Information Processing Systems, Dec 2018, Montreal, Canada |
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Continual State Representation Learning for Reinforcement Learning using Generative ReplayWorkshop on Continual Learning, NeurIPS 2018 - Thirty-second Conference on Neural Information Processing Systems, Dec 2018, Montréal, Canada |
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Generic Object Discrimination for Mobile Assistive Robots using Projective Light DiffusionWACVW 2018 : IEEE Winter Conference on Applications of Computer Vision, Workshop CV-AAL - Computer Vision for Active and Assisted Living, Mar 2018, Reno, United States. pp.1-9, ⟨10.1109/WACVW.2018.00013⟩ |
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Learning structure-from-motion from motionECCV GMDL Workshop, Sep 2018, Munich, Germany |
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DroMOOC: a Massive Open Online Course on Drones and Aerial Multi Robot Systems2018 UKACC 12th International Conference on Control (CONTROL), Sep 2018, Sheffield, United Kingdom. ⟨10.1109/control.2018.8516765⟩ |
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Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning ApproachICARCV 2018 - 15th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapour, Singapore |
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S-RL Toolbox: Environments, Datasets and Evaluation Metrics for State Representation LearningNeurIPS 2018 Workshop on “Deep Reinforcement Learning”, Dec 2018, Montreal, Canada |
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End-to-end depth from motion with stabilized monocular videosInternational Conference on Unmanned Aerial Vehicles in Geomatics, Sep 2017, Bonn, Germany. pp.67-74, ⟨10.5194/isprs-annals-IV-2-W3-67-2017⟩ |
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SnapNet-R: Consistent 3D Multi-View Semantic Labeling for RoboticsIEEE International Conference on Computer Vision Workshop (ICCVW), Oct 2017, Venise, Italy. ⟨10.1109/ICCVW.2017.85⟩ |
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Look At This One " Detection sharing between modality-independent classifiers for robotic discovery of peopleECMR 2017 - European Conference on Mobile Robotics, Sep 2017, Paris, France. pp.1-6 |
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SHREC'17 Track: 3D Hand Gesture Recognition Using a Depth and Skeletal Dataset3DOR - 10th Eurographics Workshop on 3D Object Retrieval, Apr 2017, Lyon, France. pp.1-6, ⟨10.2312/3dor.20171049⟩ |
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BoxRRT* -A Reliable Motion Planner10th Summer Workshop on Interval Methods, and 3rd International Symposium on Set Membership - Applications, Reliability and Theory, Jun 2017, Manchester, United Kingdom |
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Multi range Real-time depth inference from a monocular stabilized footage using a Fully Convolutional Neural NetworkEuropean Conference on Mobile Robotics, ENSTA ParisTech, Sep 2017, Paris, France |
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Real-Time Distributed Receding Horizon Motion Planning and Control for Mobile Multi-Robot Dynamic SystemsICRA 2017 - IEEE International Conference on Robotics and Automation , May 2017, Singapore, Singapore. ⟨10.1109/ICRA.2017.7989081⟩ |
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Extended Reliable Robust Motion Planners56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨10.1109/CDC.2017.8263805⟩ |
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An Iterative Algorithm for Forward-Parameterized Skill DiscoverySixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France |
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Sélection d'algorithmes de classification par réseau de neuronesRFIA 2016, Jun 2016, Clermont-Ferrand, France |
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An experimental comparison between NMF and LDA for active cross-situational object-word learningSixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France |
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On the Use of Intrinsic Motivation for Visual Saliency LearningSixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France |
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A Bayesian Framework for Preventive Assistance at Road Intersections2016 IEEE Intelligent Vehicles Symposium (IV'16), Jun 2016, Göteborg, Sweden |
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Environment Exploration for Object-Based Visual Saliency LearningInternational Conference on Robotics and Automation , May 2016, Stockholm, Sweden |
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RL-IAC: An Exploration Policy for Online Saliency Learning on an Autonomous Mobile RobotIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2016, Daejeon, South Korea |
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Exploration Strategies for Incremental Learning of Object-Based Visual SaliencyJoint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2015, Providence, United States |
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Apprentissage incrémental de la saillance visuelle pour des applications robotiqueJournées francophones des jeunes chercheurs en vision par ordinateur, Jun 2015, Amiens, France |
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Cross-situational noun and adjective learning in an interactive scenarioJoint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2015, Providence, United States |
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Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social IntelligenceAIC: Artificial Intelligence and Cognition, Nov 2014, Torino, Italy. pp.140-147 |
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Ontology-Based Context Awareness for Driving Assistance SystemsIEEE Intelligent Vehicles Symposium (IV), Jun 2014, Dearborn, United States. pp.1-6 |
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Neural network based 2D/3D fusion for robotic object recognitionEuropean Symposium on artificial neural networks (ESANN), May 2014, Bruges, Belgium. pp.127 - 132 |
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A Framework for Proactive Assistance: SummarySystem Engineering Human-Centered Intelligent Vehicles, Workshop of the IEEE International Conference on System, Man and Cybernetics, Oct 2014, San Diego, United States |
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Neural Network Fusion of Color, Depth and Location for Object Instance Recognition on a Mobile RobotSecond Workshop on Assistive Computer Vision and Robotics (ACVR), in conjunction with European Conference on Computer Vision, Sep 2014, Zurich, Switzerland |
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Unsupervised and online non-stationary obstacle discovery and modeling using a laser range finderIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. 7 p |
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Developmental object learning through manipulation and human demonstrationICRA Mobile Manipulation Workshop on Interactive Perception, 2013, Germany |
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Detection of Unusual Behaviours for Estimation of Context Awareness at Road Intersections5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan. pp.313-318 |
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A Comparison of Geometric and Energy-Based Point Cloud Semantic Segmentation Methods6th European Conference on Mobile Robotics (ECMR), IEEE, Sep 2013, Barcelona, Spain. pp.88-93, ⟨10.1109/ECMR.2013.6698825⟩ |
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Appearance-based segmentation of indoors/outdoors sequences of spherical viewsIEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.1946-1951 |
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Modelling Stop Intersection Approaches using Gaussian Processes16th International IEEE Conference on Intelligent Transportation Systems (ITSC), Oct 2013, The Hague, Netherlands. ⟨10.1109/ITSC.2013.6728466⟩ |
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Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robotJoint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2013, Osaka, Japan. pp.1--8, ⟨10.1109/DevLrn.2013.6652525⟩ |
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Improving object learning through manipulation and robot self-identificationIEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2013, Shenzen, China. ⟨10.1109/ROBIO.2013.6739655⟩ |
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Software architecture of the PACOM projectCAR, Jun 2013, France |
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Developmental Learning for Object PerceptionCogSys2012 Workshop on Deep Hierarchies in Vision, Feb 2012, Vienne, Austria |
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Perception and human interaction for developmental learning of objects and affordancesProc. of the 12th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS, Nov 2012, Santa Monica, United States. ⟨10.1109/HUMANOIDS.2012.6651528⟩ |
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Topological segmentation of indoors/outdoors sequences of spherical viewsIEEE Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Spain. pp.4288-4295 |
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Developmental Approach for Interactive Object DiscoveryNeural Networks (IJCNN), The 2012 International Joint Conference on, Jun 2012, Australia. pp.1-7, ⟨10.1109/IJCNN.2012.6252606⟩ |
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RGBD object recognition and visual texture classification for indoor semantic mappingTechnologies for Practical Robot Applications (TePRA), 2012 IEEE International Conference on, Apr 2012, United States. pp.127 - 132, ⟨10.1109/TePRA.2012.6215666⟩ |
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Software architecture for an exploration robot based on Urbi6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 12 p |
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Multi-sensor semantic mapping and exploration of indoor environments3rd International Conference on Technologies for Practical Robot Applications (TePRA), 2011, United States. pp.151 - 156, ⟨10.1109/TEPRA.2011.5753498⟩ |
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Qualitative localization using vision and odometry for path following in topo-metric mapsEuropean Conference on Mobile Robotics (ECMR), 2011, Sweden. pp.303-308 |
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Incremental topo-metric SLAM using vision and robot odometryProceedings of the International Conference on Robotics and Automation (ICRA), 2011, China. pp.4067 - 4073, ⟨10.1109/ICRA.2011.5979908⟩ |
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Combined Vision and Frontier-Based Exploration Strategies for Semantic Mapping3rd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2011), 2011, China. pp.237-244, ⟨10.1007/978-3-642-25992-0_34⟩ |
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A bag-of-features framework for incremental learning of speech invariants in unsegmented audio streamsTenth International Conference on Epigenetic Robotics, 2010, Örenäs Slott, Sweden |
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Using mediator objects to easily and robustly teach visual objects to a robot.ACM SIGGRAPH'2010 Poster, 2010, Los Angeles, United States |
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A Study of three Interfaces allowing Non-expert Users to Teach New Visual Objects to a Robot and their Impact on Learning EfficiencyHRI 2010 Conference, 2010, Osaka, Japan |
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An integrated system for teaching new visually grounded words to a robot for non-expert users using a mobile deviceThe 9th IEEE-RAS International Conference on Humanoid Robot, Dec 2009, Paris, France |
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Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical MappingConference on COGnitive systems with Interactive Sensors (COGIS2009), 2009, France. pp.1, ⟨10.1051/ro/2010021⟩ |
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Visual topological SLAM and global localizationInternational Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan. pp.4300 - 4305, ⟨10.1109/ROBOT.2009.5152501⟩ |
An integrated system for teaching new visually grounded words to a robot for non-expert users using a mobile deviceIEEE-RAS International Conference on Humanoid Robots, 2009, Tsukuba, Japan |
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Real-Time Visual Loop-Closure DetectionInternational Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.1842 - 1847, ⟨10.1109/ROBOT.2008.4543475⟩ |
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Incremental vision-based topological SLAMIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008, Sep 2008, Nice, France. pp.1031 - 1036, ⟨10.1109/IROS.2008.4650675⟩ |
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Interactive learning of visual topological navigationInternational Conference on Intelligent Robots and Systems (IROS), 2008, France. pp.248 - 254, ⟨10.1109/IROS.2008.4650681⟩ |
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A visual bag of words method for interactive qualitative localization and mappingInternational Conference on Robotics and Automation, 2007, Italy. pp.3921 - 3926, ⟨10.1109/ROBOT.2007.364080⟩ |
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2D Simultaneous Localization And Mapping for Micro Air VehiclesEuropean Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany |
State of the artificial rat PsikharpaxSAB 2004 - 8th International Conference on Simulation of Adaptive Behavior, Jul 2004, Los Angeles, CA, United States. pp.3-12 |
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An integration of two control architectures of action selection and navigation inspired by neural circuits in the vertebrates: The basal ganglia8th Neural Computation and Psychology Workshop, Aug 2004, University of Kent, United Kingdom. pp.72-81 |
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Controlling the autonomy of a reconnaissance robotSPIE Defense and Security 2004 Symposium. Unmanned Ground Vehicle Technology VI Conference, 2004, United States. pp.314, ⟨10.1117/12.547270⟩ |
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Global localization and topological map learning for robot navigationSeventh International Conference on simulation of adaptive behavior : From Animals to Animats (SAB-2002), 2002, Edinburgh, United Kingdom. pp.131--140 |
Active perception and map-learning for robot navigation6th Conferences on Simulation of Adaptive Behavior., Sep 2000, Paris, France. pp.246-255 |
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Incremental evolution of neural controllers for navigation in a 6-legged robot4th International Symposium on Artificial Life and Robotics, Jan 1999, Oita, Japan. pp.745-750 |
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Spatially Coherent Costmap: A Weakly Supervised Pipeline for Outdoor TraversabilityIEEE/RSJ International Conference on Intelligent Robots and Systems - Late Breacking results, Oct 2024, Abu Dhabi, Saudi Arabia. Late Breacking results |
DroMOOC4ème Journée Initiatives Pédagogiques de l’Université Paris-Saclay, Nov 2018, Gif-sur-Yvette, France |
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A review of classical and learning based approaches in task and motion planningInformatics in Control, Automation and Robotics, LNCS-836, Springer International Publishing, pp.83-99, 2023, Lecture Notes in Networks and Systems, ⟨10.1007/978-3-031-48303-5_5⟩ |
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Evolutionary Approaches to Neural Control of Rolling, Walking, Swimming and Flying Animats or RobotsDuro, R.J.; Santos, J.; Grana, M. Biologically Inspired Robot Behavior Engineering, Springer-Verlag, pp.1--43, 2002, ⟨10.1007/978-3-7908-1775-1_1⟩ |
Utilisation de mécanismes de perception active pour la navigation d'un robot mobileIntelligence Artificielle Située, Hermès, pp.160-174, 1999 |
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Manuel d'éducation des jeunes robots à l'usage de leurs maitres2010 |
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DREAM Architecture: a Developmental Approach to Open-Ended Learning in Robotics2020 |
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Unsupervised state representation learning with robotic priors: a robustness benchmark2017 |
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Gated networks: an inventory2016 |
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Cartographie et estimation globale de la position pour un robot mobile autonomeRobotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2001. Français. ⟨NNT : ⟩ |
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Navigation, perception et apprentissage pour la robotiqueRobotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2011 |
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Robotique MobileEngineering school. Robotique Mobile, ENSTA ParisTech, 2011, pp.175 |