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 :

la navigation, la cartographie, la localisation, la planification de trajectoires,

l’apprentissage appliqué à la perception multimodale et à l’apprentissage par renforcement,

les applications aux robots mobiles, aux drones et aux véhicules autonomes.

Publications

Article dans une revue (23)

Robust trajectory forecasting in autonomous systems using mixtures of Student’s T-distributions with T-DistNet Adrien Lafage,Gianni Franchi,Mathieu Barbier,David Filliat Pattern Recognition, 2025, 165, pp.111524. ⟨10.1016/j.patcog.2025.111524⟩ Article dans une revue hal-05005555v1
A comparative review of decision-making approaches for realistic event-driven environments Ivelina Stoyanova,Nicolas Museux,Sao Mai Nguyen,David Filliat Discrete Event Dynamic Systems, 2025, ⟨10.1007/s10626-025-00421-w⟩ Article dans une revue hal-05302288v1
Fourier Features in Reinforcement Learning with Neural Networks David Brellmann,David Filliat,Goran Frehse Transactions on Machine Learning Research Journal, 2023 Article dans une revue hal-04316346v1
EXplainable Neural-Symbolic Learning (X-NeSyL) methodology to fuse deep learning representations with expert knowledge graphs: The MonuMAI cultural heritage use case Natalia Díaz-Rodríguez,Alberto Lamas,Jules Sanchez,Gianni Franchi,Ivan Donadelloet al. Information Fusion, 2021, ⟨10.1016/j.inffus.2021.09.022⟩ Article dans une revue hal-03379551v1
Demonstration Guided Actor-Critic Deep Reinforcement Learning for Fast Teaching of Robots in Dynamic Environments Liang Gong,Te Sun,Xudong Li,Ke Lin,Natalia Díaz-Rodríguezet al. IFAC-PapersOnLine, 2020, 53 (5), pp.271-278. ⟨10.1016/j.ifacol.2021.04.227⟩ Article dans une revue hal-03434380v1
Exploring to learn visual saliency: The RL-IAC approach Céline Craye,Timothée Lesort,David Filliat,Jean-François Goudou Robotics and Autonomous Systems, 2019, 112, pp.244-259. ⟨10.1016/j.robot.2018.11.012⟩ Article dans une revue hal-01959882v1
Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Challenges Timothée Lesort,Vincenzo Lomonaco,Andrei Stoian,Davide Maltoni,David Filliatet al. Information Fusion, 2019, ⟨10.1016/j.inffus.2019.12.004⟩ Article dans une revue hal-02381343v1
Comparison studies on active cross-situational object-word learning using Non-Negative Matrix Factorization and Latent Dirichlet Allocation Yuxin Chen,Jean-Baptiste Bordes,David Filliat IEEE Transactions on Cognitive and Developmental Systems, 2018, ⟨10.1109/TCDS.2017.2725304⟩ Article dans une revue hal-01561168v1
Open-Ended Learning: A Conceptual Framework Based on Representational Redescription Stéphane Doncieux,David Filliat,Natalia Díaz-Rodríguez,Timothy Hospedales,Richard Duroet al. Frontiers in Neurorobotics, 2018, 12, pp.59. ⟨10.3389/fnbot.2018.00059⟩ Article dans une revue hal-01889947v1
State Representation Learning for Control: An Overview Timothée Lesort,Natalia Díaz-Rodríguez,Jean-François Goudou,David Filliat Neural Networks, 2018, 108, pp.379-392. ⟨10.1016/j.neunet.2018.07.006⟩ Article dans une revue hal-01858558v1
BioVision: a Biomimetics Platform for Intrinsically Motivated Visual Saliency Learning Céline Craye,David Filliat,Jean-François Goudou IEEE Transactions on Cognitive and Developmental Systems, 2018, ⟨10.1109/TCDS.2018.2806227⟩ Article dans une revue hal-01728340v1
A Light Visual Mapping and Navigation Framework for Low-Cost Robots Stéphane Bazeille,Emmanuel Battesti,David Filliat Journal of Intelligent Systems, 2015, pp.27. ⟨10.1515/jisys-2014-0116⟩ Article dans une revue hal-01122633v1
From passive to interactive object learning and recognition through self-identification on a humanoid robot Natalia Lyubova,Serena Ivaldi,David Filliat Autonomous Robots, 2015, pp.23. ⟨10.1007/s10514-015-9445-0⟩ Article dans une revue hal-01166110v1
MCA-NMF: Multimodal Concept Acquisition with Non-Negative Matrix Factorization Olivier Mangin,David Filliat,Louis ten Bosch,Pierre-Yves Oudeyer PLoS ONE, 2015, 10 (10), pp.e0140732. ⟨10.1371/journal.pone.0140732.t005⟩ Article dans une revue hal-01137529v3
Asynchronous Event-Based Multikernel Algorithm for High-Speed Visual Features Tracking Xavier Lagorce,Cédric Meyer,Sio-Hoi Ieng,David Filliat,Ryad Benosman IEEE Transactions on Neural Networks and Learning Systems, 2014, pp.1-12. ⟨10.1109/TNNLS.2014.2352401⟩ Article dans une revue hal-01069808v1
The Impact of Human-Robot Interfaces on the Learning of Visual Objects Pierre Rouanet,Pierre-Yves Oudeyer,Fabien Danieau,David Filliat IEEE Transactions on Robotics, 2013, 29 (2), pp.525-541. ⟨10.1109/TRO.2012.2228134⟩ Article dans une revue hal-00758241v1
Object learning through active exploration Serena Ivaldi,Sao Mai Nguyen,Natalia Lyubova,Alain Droniou,Vincent Padoiset al. IEEE Transactions on Autonomous Mental Development, 2013, pp.1-18. ⟨10.1109/TAMD.2013.2280614⟩ Article dans une revue hal-00919694v1
Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping Stéphane Bazeille,David Filliat RAIRO - Operations Research, 2010, 44 (4), pp.365-377 Article dans une revue hal-00652604v1
A Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words Adrien Angeli,David Filliat,Stéphane Doncieux,Jean-Arcady Meyer IEEE Transactions on Robotics, 2008, pp.1027 - 1037. ⟨10.1109/TRO.2008.2004514⟩ Article dans une revue hal-00652598v1
Integration of navigation and action selection functionalities in a computational model of cortico-basal ganglia-thalamo-cortical loops Benoît Girard,David Filliat,Jean-Arcady Meyer,Alain Berthoz,Agnès Guillot Adaptive Behavior, 2005, 13 (2), pp.115-130. ⟨10.1177/105971230501300204⟩ Article dans une revue hal-00016389v1
Map-based navigation in Mobile robots - II. A review of map-learning and path-planing strategies Jean-Arcady Meyer,David Filliat Journal of Cognitive Systems Research, 2003, 4 (4), pp.283--317. ⟨10.1016/S1389-0417(03)00007-X⟩ Article dans une revue hal-00655472v1
Map-based navigation in mobile robots - I. A review of localisation strategies David Filliat,Jean-Arcady Meyer Journal of Cognitive Systems Research, 2003, 4 (4), pp.243--282. ⟨10.1016/S1389-0417(03)00008-1⟩ Article dans une revue hal-00655473v1
Evolution of neural controllers for locomotion and obstacle-avoidance in a 6-legged robot David Filliat,Jérôme Kodjabachian,Jean-Arcady Meyer Connection Science, 1999, 11, pp.223--240 Article dans une revue hal-01021228v2

Communication dans un congrès (104)

Exploration d'environnements souterrains par déploiement et réorganisation d'une chaîne de drones Mathis Fleuriel,Elena Vanneaux,David Filliat,Olivier Simonin JFSMA 2025 - Journées Francophones des Système Multi-Agents, Jul 2025, Dijon, France Communication dans un congrès hal-05230431v1
Recovering Dense Metric Depth in Indoor Scenes from Monocular Depth Foundation Models and 2D LiDARs Rémi Marsal,Alexandre Chapoutot,Philippe Xu,David Filliat European Robotics Forum, Mar 2025, Stuttgart, Germany. pp.236-241, ⟨10.1007/978-3-031-89471-8_36⟩ Communication dans un congrès hal-05111994v1
Interpretable Rule Learning for Reactive Activity Recognition in Event-Driven RL Environments Ivelina Stoyanova,Nicolas Museux,Sao Mai Nguyen,David Filliat Eighteenth European Workshop on Reinforcement Learning, Sep 2025, Tubingen Germany, France Communication dans un congrès hal-05302145v1
NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval Kai Zhang,Eric Lucet,Julien Sandretto,Shoubin Chen,David Filliat 22nd International Conference on Informatics in Control, Automation and Robotics, Oct 2025, Marbella, France. pp.139-149, ⟨10.5220/0013806300003982⟩ Communication dans un congrès hal-05492850v1
Improving Off-Road LiDAR Semantic Segmentation with Spatial Context and Auxiliary Tasks Abhay Dayal Mathur,Alexandre Chapoutot,David Filliat European Robotic Forum, Mar 2025, Stuttgart (Germany), Germany. pp.300-306, ⟨10.1007/978-3-031-89471-8_46⟩ Communication dans un congrès hal-05111999v1
Analyse des modèles de fondation pour la navigation tout-terrain Quentin Picard,Louis Dezons,David Filliat Journée Défense et Intelligence Artificielle, Plate-Forme Intelligence Artificielle (PFIA 2025), Jul 2025, Dijon, France Communication dans un congrès hal-05191089v1
Exploring Underground Environments by Deploying and Reconfiguring a Chain of Visually Connected UAVs Mathis Fleuriel,Elena Vanneaux,David Filliat,Olivier Simonin ECMR 2025 - European Conference on Mobile Robots, Sep 2025, Padoue, Italy. pp.1-7 Communication dans un congrès hal-05230444v1
Improved monocular depth prediction using distance transform over pre-semantic contours with self-supervised neural networks Marwane Hariat,Antoine Manzanera,David Filliat 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2025, Nashville, France. pp.21868-21879, ⟨10.1109/CVPR52734.2025.02037⟩ Communication dans un congrès hal-05430193v1
Communication strategies for environment exploration using a frontier-guided Decentralised MCTS Mathilde Jeannin,David Filliat,Eric Goubault,Sylvie Putot IEEE International Symposium on Multi-Robot & Multi-Agent Systems, Dec 2025, Singapour, Singapore Communication dans un congrès hal-05500946v1
Improving Domain Generalisable LiDAR Semantic Segmentation In Off-Road Environments with Auxiliary Tasks Abhay Dayal Mathur,Alexandre Chapoutot,David Filliat 2025 European Conference on Mobile Robots (ECMR), Sep 2025, Padova, Italy. pp.1-6, ⟨10.1109/ECMR65884.2025.11163269⟩ Communication dans un congrès hal-05321746v1
On double descent in reinforcement learning with LSTD and random features David Brellmann,Eloïse Berthier,David Filliat,Goran Frehse ICLR 2024 - The Twelfth International Conference on Learning Representations, May 2024, Vienna, Austria Communication dans un congrès hal-04628067v1
InfraParis: A multi-modal and multi-task autonomous driving dataset Gianni Franchi,Marwane Hariat,Xuanlong Yu,Nacim Belkhir,Antoine Manzaneraet al. WACV 2024 - IEEE/CVF Winter Conference on Applications of Computer Vision, Jan 2024, Waikoloa, United States. ⟨10.1109/WACV57701.2024.00295⟩ Communication dans un congrès hal-04321062v1
A probabilistic approach for learning and adapting shared control skills with the human in the loop Gabriel Quere,Freek Stulp,David Filliat,Joao Silverio ICRA 2024 - IEEE International Conference on Robotics and Automation, May 2024, YOKOHAMA, Japan Communication dans un congrès hal-04496397v1
Open the Chests: An Environment for Activity Recognition and Sequential Decision Problems Using Temporal Logic Ivelina Stoyanova,Nicolas Museux,Sao Mai Nguyen,David Filliat International Symposium on Temporal Representation and Reasoning (TIME), Oct 2024, Montpellier, France. ⟨10.4230/LIPIcs.TIME.2024.5⟩ Communication dans un congrès hal-04747440v1
Rebalancing gradient to improve self-supervised co-training of depth, odometry and optical flow predictions Marwane Hariat,Antoine Manzanera,David Filliat WACV 2023, Jan 2023, Waikoloa (Hawaii), United States. pp.1267-1276 Communication dans un congrès hal-03964607v1
VIBR: Learning View-Invariant Value Functions for Robust Visual Control Tom Dupuis,Jaonary Rabarisoa,Quoc-Cuong Pham,David Filliat CoLLAs 2023 - 2nd Conference on Lifelong Learning Agents, Aug 2023, Montréal, Canada. pp.658--682, ⟨10.48550/arXiv.2306.08537⟩ Communication dans un congrès cea-04488071v1
Navigation among movable obstacles using machine learning based total time cost optimization Kai Zhang,Eric Lucet,Julien Alexandre Dit Sandretto,David Filliat IROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit (MI), United States Communication dans un congrès hal-04250608v1
Task and motion planning methods: applications and limitations Kai Zhang,Eric Lucet,Julien Alexandre Dit Sandretto,Selma Kchir,David Filliat ICINCO 2022 - 19th International Conference on Informatics in Control, Automation and Robotics, Jul 2022, Lisbonne, Portugal. pp.476-483, ⟨10.5220/0011314000003271⟩ Communication dans un congrès hal-03744923v1
Domain invariant Q-learning for model-free robust continuous control under visual distractions Tom Dupuis,Jaonary Rabarisoa,Quoc-Cuong Pham,David Filliat NeurIPS 2022 - Deep Reinforcement Learning Workshop, Dec 2022, Virtual, United States Communication dans un congrès hal-04135292v1
Latent Discriminant deterministic Uncertainty Gianni Franchi,Xuanlong Yu,Andrei Bursuc,Emanuel Aldea,Séverine Dubuissonet al. European Conference on Computer Vision (ECCV 2022), Oct 2022, Tel Aviv,, Israel. ⟨10.1007/978-3-031-19775-8_15⟩ Communication dans un congrès hal-03775954v1
Using Semantic Information to Improve Generalization of Reinforcement Learning Policies for Autonomous Driving Florence Carton,David Filliat,Jaonary Rabarisoa,Quoc Cuong Pham IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) Workshops, Jan 2021, Hawaii (on line), United States Communication dans un congrès hal-03110285v1
S-TRIGGER: Continual State Representation Learning via Self-Triggered Generative Replay Hugo Caselles-Dupré,Michael Garcia-Ortiz,David Filliat IJCNN 2021 - International Joint Conference on Neural Networks, Jul 2021, Shenzhen / Virtual, China. pp.1-7, ⟨10.1109/IJCNN52387.2021.9533683⟩ Communication dans un congrès hal-03377783v1
Evaluating Robustness over High Level Driving Instruction for Autonomous Driving Florence Carton,David Filliat,Jaonary Rabarisoa,Quoc Cuong Pham IV 2021 - 32nd IEEE Intelligent Vehicles Symposium, Jul 2021, Nagoya, Japan Communication dans un congrès hal-03377799v1
RobotDrlSim: A real time robot simulation platform for reinforcement learning and human interactive demonstration learning Te Sun,Liang Gong,Xvdong Li,Shenghan Xie,Zhaorun Chenet al. MSOTA 2020 - 3rd International Conference on Modeling, Simulation and Optimization Technologies and Applications, Nov 2020, Beijing / Virtual, China Communication dans un congrès hal-03021400v1
On the Sensory Commutativity of Action Sequences for Embodied Agents Hugo Caselles-Dupré,Michael Garcia Ortiz,David Filliat Workshop on Learning in Artificial Open Worlds at ICML20, Jul 2020, Online, France Communication dans un congrès hal-03123920v1
Trajectory Prediction of Traffic Agents: Incorporating context into machine learning approaches Vyshakh Palli-Thazha,David Filliat,Javier Ibañez-Guzmán VTC2020-Spring- 2020 IEEE 91st Vehicular Technology Conference, May 2020, Antwerp / Virtual, Belgium Communication dans un congrès hal-03021420v1
Object Detection for Embodied Agents using Sensory Commutativity of Action Sequences Hugo Caselles-Dupré,Michael Garcia Ortiz,David Filliat NeurIPS 2020 Workshop on BabyMind, Dec 2020, Vancouver / Virtual, Canada Communication dans un congrès hal-03123933v1
Deep unsupervised state representation learning with robotic priors: a robustness analysis Timothée Lesort,Mathieu Seurin,Xinrui Li,Natalia Díaz-Rodríguez,David Filliat IJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary. pp.1-8, ⟨10.1109/IJCNN.2019.8852042⟩ Communication dans un congrès hal-02381375v1
Continual Reinforcement Learning deployed in Real-life using Policy Distillation and Sim2Real Transfer René Traoré,Hugo Caselles-Dupré,Timothée Lesort,Te Sun,Natalia Díaz-Rodríguezet al. ICML Workshop on “Multi-Task and Lifelong Reinforcement Learning”, Jun 2019, Long Beach, United States Communication dans un congrès hal-02285839v1
Marginal Replay vs Conditional Replay for Continual Learning Timothée Lesort,Alexander Gepperth,Andrei Stoian,David Filliat ICANN, 2019, Munich, Germany Communication dans un congrès hal-02285835v1
DISCORL: Continual reinforcement learning via policy distillation René Traoré,Hugo Caselles-Dupré,Timothée Lesort,Te Sun,Guanghang Caiet al. NeurIPS workshop on Deep Reinforcement Learning, Dec 2019, Vancouver, Canada Communication dans un congrès hal-02381494v1
Decoupling feature extraction from policy learning: assessing benefits of state representation learning in goal based robotics Antonin Raffin,Ashley Hill,René Traoré,Timothée Lesort,Natalia Díaz-Rodríguezet al. SPiRL 2019 : Workshop on Structure and Priors in Reinforcement Learning at ICLR 2019, May 2019, Nouvelle Orléans, United States Communication dans un congrès hal-02285831v1
Symmetry-Based Disentangled Representation Learning requires Interaction with Environments Hugo Caselles-Dupré,Michael Garcia-Ortiz,David Filliat NeurIPS 2019 6 Neural Information Processing Conference, Dec 2019, Vancouver, Canada Communication dans un congrès hal-02379399v1
Training Discriminative Models to Evaluate Generative Ones Timothée Lesort,Andrei Stoain,Jean-François Goudou,David Filliat ICANN, 2019, Munich, Germany Communication dans un congrès hal-02285834v1
Applying map-masks to Trajectory Prediction for Interacting Traffic-Agents Vyshakh Palli Thazha,David Filliat,Javier Ibañez-Guzmán Deep Learning for Automated Driving (DLAD) workshop, IEEE International Conference on Intelligent Transportation Systems, Oct 2019, Auckland, New Zealand Communication dans un congrès hal-02393250v1
Generative Models from the perspective of Continual Learning Timothée Lesort,Hugo Caselles-Dupré,Michael Garcia-Ortiz,Jean-François Goudou,David Filliat IJCNN - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary Communication dans un congrès hal-01951954v1
Don't forget, there is more than forgetting: new metrics for Continual Learning Natalia Díaz-Rodríguez,Vincenzo Lomonaco,David Filliat,Davide Maltoni Workshop on Continual Learning, NeurIPS 2018 (Neural Information Processing Systems, Dec 2018, Montreal, Canada Communication dans un congrès hal-01951488v1
Generic Object Discrimination for Mobile Assistive Robots using Projective Light Diffusion Panagiotis Papadakis,David Filliat WACVW 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⟩ Communication dans un congrès hal-01699842v1
Continual State Representation Learning for Reinforcement Learning using Generative Replay Hugo Caselles-Dupré,Michael Garcia-Ortiz,David Filliat Workshop on Continual Learning, NeurIPS 2018 - Thirty-second Conference on Neural Information Processing Systems, Dec 2018, Montréal, Canada Communication dans un congrès hal-01951399v1
Flatland: a Lightweight First-Person 2-D Environment for Reinforcement Learning Hugo Caselles-Dupré,Louis Annabi,Oksana Hagen,Michael Garcia-Ortiz,David Filliat Workshop on Continual Unsupervised Sensorimotor Learning, ICDL-EpiRob 2018, Sep 2018, Tokyo, Japan Communication dans un congrès hal-01951945v1
Learning structure-from-motion from motion Clément Pinard,Laure Chevalley,Antoine Manzanera,David Filliat ECCV GMDL Workshop, Sep 2018, Munich, Germany Communication dans un congrès hal-01995833v1
DroMOOC: a Massive Open Online Course on Drones and Aerial Multi Robot Systems Sylvain Bertrand,Julien Marzat,Cristina Stoica Maniu,Maria Makarov,David Filliatet al. 2018 UKACC 12th International Conference on Control (CONTROL), Sep 2018, Sheffield, United Kingdom. ⟨10.1109/control.2018.8516765⟩ Communication dans un congrès hal-01907122v1
Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach José M Mendes Filho,Eric Lucet,David Filliat ICARCV 2018 - 15th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapour, Singapore Communication dans un congrès hal-01935322v1
S-RL Toolbox: Environments, Datasets and Evaluation Metrics for State Representation Learning Antonin Raffin,Ashley Hill,René Traoré,Timothée Lesort,Natalia Díaz-Rodríguezet al. NeurIPS 2018 Workshop on “Deep Reinforcement Learning”, Dec 2018, Montreal, Canada Communication dans un congrès hal-01931713v1
SnapNet-R: Consistent 3D Multi-View Semantic Labeling for Robotics Joris Guerry,Alexandre Boulch,Bertrand Le Saux,Julien Moras,Aurelien Plyeret al. IEEE International Conference on Computer Vision Workshop (ICCVW), Oct 2017, Venise, Italy. ⟨10.1109/ICCVW.2017.85⟩ Communication dans un congrès hal-01808539v1
End-to-end depth from motion with stabilized monocular videos Clément Pinard,Laure Chevalley,Antoine Manzanera,David Filliat International Conference on Unmanned Aerial Vehicles in Geomatics, Sep 2017, Bonn, Germany. pp.67-74, ⟨10.5194/isprs-annals-IV-2-W3-67-2017⟩ Communication dans un congrès hal-01587652v1
Look At This One &quot; Detection sharing between modality-independent classifiers for robotic discovery of people Joris Guerry,Bertrand Le Saux,David Filliat ECMR 2017 - European Conference on Mobile Robotics, Sep 2017, Paris, France. pp.1-6 Communication dans un congrès hal-01628762v1
SHREC'17 Track: 3D Hand Gesture Recognition Using a Depth and Skeletal Dataset Quentin de Smedt,Hazem Wannous,Jean-Philippe Vandeborre,Joris Guerry,Bertrand Le Sauxet al. 3DOR - 10th Eurographics Workshop on 3D Object Retrieval, Apr 2017, Lyon, France. pp.1-6, ⟨10.2312/3dor.20171049⟩ Communication dans un congrès hal-01563505v1
BoxRRT* -A Reliable Motion Planner Adina M Panchea,Alexandre Chapoutot,David Filliat 10th Summer Workshop on Interval Methods, and 3rd International Symposium on Set Membership - Applications, Reliability and Theory, Jun 2017, Manchester, United Kingdom Communication dans un congrès hal-01574921v1
Multi range Real-time depth inference from a monocular stabilized footage using a Fully Convolutional Neural Network Clément Pinard,Laure Chevalley,Antoine Manzanera,David Filliat European Conference on Mobile Robotics, ENSTA ParisTech, Sep 2017, Paris, France Communication dans un congrès hal-01587658v1
Real-Time Distributed Receding Horizon Motion Planning and Control for Mobile Multi-Robot Dynamic Systems José M Mendes Filho,Eric Lucet,David Filliat ICRA 2017 - IEEE International Conference on Robotics and Automation , May 2017, Singapore, Singapore. ⟨10.1109/ICRA.2017.7989081⟩ Communication dans un congrès hal-01530977v1
Extended Reliable Robust Motion Planners Adina M Panchea,Alexandre Chapoutot,David Filliat 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨10.1109/CDC.2017.8263805⟩ Communication dans un congrès hal-01493576v1
An Iterative Algorithm for Forward-Parameterized Skill Discovery Adrien Matricon,David Filliat,Pierre-Yves Oudeyer Sixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France Communication dans un congrès hal-01370820v1
Sélection d'algorithmes de classification par réseau de neurones Joris Guerry,Bertrand Le Saux,David Filliat RFIA 2016, Jun 2016, Clermont-Ferrand, France Communication dans un congrès hal-01354102v1
On the Use of Intrinsic Motivation for Visual Saliency Learning Céline Craye,David Filliat,Jean-François Goudou Sixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France Communication dans un congrès hal-01370850v1
An experimental comparison between NMF and LDA for active cross-situational object-word learning Yuxin Chen,Jean-Baptiste Bordes,David Filliat Sixth Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Sep 2016, Cergy-Pontoise, France Communication dans un congrès hal-01370853v1
A Bayesian Framework for Preventive Assistance at Road Intersections Alexandre Armand,David Filliat,Javier Ibañez-Guzman 2016 IEEE Intelligent Vehicles Symposium (IV'16), Jun 2016, Göteborg, Sweden Communication dans un congrès hal-01319046v1
Environment Exploration for Object-Based Visual Saliency Learning Céline Craye,David Filliat,Jean-François Goudou International Conference on Robotics and Automation , May 2016, Stockholm, Sweden Communication dans un congrès hal-01289159v1
RL-IAC: An Exploration Policy for Online Saliency Learning on an Autonomous Mobile Robot Céline Craye,David Filliat,Jean-François Goudou IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2016, Daejeon, South Korea Communication dans un congrès hal-01392947v2
Exploration Strategies for Incremental Learning of Object-Based Visual Saliency Céline Craye,David Filliat,Jean-François Goudou Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2015, Providence, United States Communication dans un congrès hal-01170532v1
Apprentissage incrémental de la saillance visuelle pour des applications robotique Céline Craye,David Filliat,Jean-François Goudou Journées francophones des jeunes chercheurs en vision par ordinateur, Jun 2015, Amiens, France Communication dans un congrès hal-01161848v1
Cross-situational noun and adjective learning in an interactive scenario Yuxin Chen,David Filliat Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2015, Providence, United States Communication dans un congrès hal-01170674v1
Ontology-Based Context Awareness for Driving Assistance Systems Alexandre Armand,David Filliat,Javier Ibañez-Guzman IEEE Intelligent Vehicles Symposium (IV), Jun 2014, Dearborn, United States. pp.1-6 Communication dans un congrès hal-01012078v1
Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social Intelligence Amit Kumar Pandey,Rodolphe Gelin,Rachid Alami,Renaud Viry,Axel Buendiaet al. AIC: Artificial Intelligence and Cognition, Nov 2014, Torino, Italy. pp.140-147 Communication dans un congrès hal-01096094v1
Neural network based 2D/3D fusion for robotic object recognition Louis-Charles Caron,Yang Song,David Filliat,Alexander Gepperth European Symposium on artificial neural networks (ESANN), May 2014, Bruges, Belgium. pp.127 - 132 Communication dans un congrès hal-01012090v1
A Framework for Proactive Assistance: Summary Alexandre Armand,David Filliat,Javier Ibañez-Guzmán System Engineering Human-Centered Intelligent Vehicles, Workshop of the IEEE International Conference on System, Man and Cybernetics, Oct 2014, San Diego, United States Communication dans un congrès hal-01072784v1
Neural Network Fusion of Color, Depth and Location for Object Instance Recognition on a Mobile Robot Louis-Charles Caron,David Filliat,Alexander Gepperth Second Workshop on Assistive Computer Vision and Robotics (ACVR), in conjunction with European Conference on Computer Vision, Sep 2014, Zurich, Switzerland Communication dans un congrès hal-01087392v1
Unsupervised and online non-stationary obstacle discovery and modeling using a laser range finder Guillaume Duceux,David Filliat IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. 7 p Communication dans un congrès hal-01061406v1
Detection of Unusual Behaviours for Estimation of Context Awareness at Road Intersections Alexandre Armand,David Filliat,Javier Ibanez-Guzman 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan. pp.313-318 Communication dans un congrès hal-01215563v1
Developmental object learning through manipulation and human demonstration Natalya Lyubova,Serena Ivaldi,David Filliat ICRA Mobile Manipulation Workshop on Interactive Perception, 2013, Germany Communication dans un congrès hal-00839519v1
Modelling Stop Intersection Approaches using Gaussian Processes Alexandre Armand,David Filliat,Javier Ibanez-Guzman 16th International IEEE Conference on Intelligent Transportation Systems (ITSC), Oct 2013, The Hague, Netherlands. ⟨10.1109/ITSC.2013.6728466⟩ Communication dans un congrès hal-00919680v1
Appearance-based segmentation of indoors/outdoors sequences of spherical views Alexandre Chapoulie,Patrick Rives,David Filliat IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.1946-1951 Communication dans un congrès hal-00845450v1
A Comparison of Geometric and Energy-Based Point Cloud Semantic Segmentation Methods Mathieu Dubois,Paola K. Rozo,Alexander Gepperth,Fabio A. González O.,David Filliat 6th European Conference on Mobile Robotics (ECMR), IEEE, Sep 2013, Barcelona, Spain. pp.88-93, ⟨10.1109/ECMR.2013.6698825⟩ Communication dans un congrès hal-00963863v1
Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robot Sao Mai Nguyen,Serena Ivaldi,Natalia Lyubova,Alain Droniou,Damien Gerardeaux-Viretet al. Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2013, Osaka, Japan. pp.1--8, ⟨10.1109/DevLrn.2013.6652525⟩ Communication dans un congrès hal-00919674v1
Improving object learning through manipulation and robot self-identification Natalia Lyubova,David Filliat,Serena Ivaldi IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2013, Shenzen, China. ⟨10.1109/ROBIO.2013.6739655⟩ Communication dans un congrès hal-00919649v1
Software architecture of the PACOM project David Filliat CAR, Jun 2013, France Communication dans un congrès hal-00839518v1
Perception and human interaction for developmental learning of objects and affordances Serena Ivaldi,Natalya Lyubova,Damien Gérardeaux-Viret,Alain Droniou,Salvatore Anzaloneet al. Proc. of the 12th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS, Nov 2012, Santa Monica, United States. ⟨10.1109/HUMANOIDS.2012.6651528⟩ Communication dans un congrès hal-00755297v1
Developmental Learning for Object Perception Natalia Lyubova,David Filliat CogSys2012 Workshop on Deep Hierarchies in Vision, Feb 2012, Vienne, Austria Communication dans un congrès hal-00755300v1
Topological segmentation of indoors/outdoors sequences of spherical views Alexandre Chapoulie,Patrick Rives,David Filliat IEEE Conference on Intelligent Robots and Systems, IROS'12, Oct 2012, Vilamoura, Spain. pp.4288-4295 Communication dans un congrès hal-00752909v1
Developmental Approach for Interactive Object Discovery Natalya Lyubova,David Filliat Neural Networks (IJCNN), The 2012 International Joint Conference on, Jun 2012, Australia. pp.1-7, ⟨10.1109/IJCNN.2012.6252606⟩ Communication dans un congrès hal-00755298v1
RGBD object recognition and visual texture classification for indoor semantic mapping David Filliat,Emmanuel Battesti,Stéphane Bazeille,Guillaume Duceux,Alexander Gepperthet al. Technologies for Practical Robot Applications (TePRA), 2012 IEEE International Conference on, Apr 2012, United States. pp.127 - 132, ⟨10.1109/TePRA.2012.6215666⟩ Communication dans un congrès hal-00755295v1
Software architecture for an exploration robot based on Urbi Jean-Christophe Baillie,Akim Demaille,Guillaume Duceux,David Filliat,Quentin Hocquetet al. 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 12 p Communication dans un congrès inria-00599674v1
Multi-sensor semantic mapping and exploration of indoor environments Islem Jebari,Stéphane Bazeille,Emmanuel Battesti,Hassène Tekaya,Markus Kleinet al. 3rd International Conference on Technologies for Practical Robot Applications (TePRA), 2011, United States. pp.151 - 156, ⟨10.1109/TEPRA.2011.5753498⟩ Communication dans un congrès hal-00652471v1
Qualitative localization using vision and odometry for path following in topo-metric maps Emmanuel Battesti,Stéphane Bazeille,David Filliat European Conference on Mobile Robotics (ECMR), 2011, Sweden. pp.303-308 Communication dans un congrès hal-00652479v1
Incremental topo-metric SLAM using vision and robot odometry Stéphane Bazeille,David Filliat Proceedings of the International Conference on Robotics and Automation (ICRA), 2011, China. pp.4067 - 4073, ⟨10.1109/ICRA.2011.5979908⟩ Communication dans un congrès hal-00652464v1
Combined Vision and Frontier-Based Exploration Strategies for Semantic Mapping Islem Jebari,Stéphane Bazeille,David Filliat 3rd 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⟩ Communication dans un congrès hal-00741266v1
A bag-of-features framework for incremental learning of speech invariants in unsegmented audio streams Olivier Mangin,Pierre-Yves Oudeyer,David Filliat Tenth International Conference on Epigenetic Robotics, 2010, Örenäs Slott, Sweden Communication dans un congrès inria-00541802v1
Using mediator objects to easily and robustly teach visual objects to a robot. Pierre Rouanet,Pierre-Yves Oudeyer,David Filliat ACM SIGGRAPH'2010 Poster, 2010, Los Angeles, United States Communication dans un congrès inria-00541798v1
A Study of three Interfaces allowing Non-expert Users to Teach New Visual Objects to a Robot and their Impact on Learning Efficiency Pierre Rouanet,Pierre-Yves Oudeyer,David Filliat HRI 2010 Conference, 2010, Osaka, Japan Communication dans un congrès inria-00541794v1
Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping Stéphane Bazeille,David Filliat Conference on COGnitive systems with Interactive Sensors (COGIS2009), 2009, France. pp.1, ⟨10.1051/ro/2010021⟩ Communication dans un congrès hal-00652602v1
An integrated system for teaching new visually grounded words to a robot for non-expert users using a mobile device Pierre Rouanet,Pierre-Yves Oudeyer,David Filliat The 9th IEEE-RAS International Conference on Humanoid Robot, Dec 2009, Paris, France Communication dans un congrès inria-00438564v1
Visual topological SLAM and global localization Adrien Angeli,Stéphane Doncieux,Jean-Arcady Meyer,David Filliat International Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan. pp.4300 - 4305, ⟨10.1109/ROBOT.2009.5152501⟩ Communication dans un congrès hal-00652601v1
An integrated system for teaching new visually grounded words to a robot for non-expert users using a mobile device Pierre-Yves Oudeyer,Pierre Rouanet,David Filliat IEEE-RAS International Conference on Humanoid Robots, 2009, Tsukuba, Japan Communication dans un congrès inria-00420249v1
Real-Time Visual Loop-Closure Detection Adrien Angeli,Stéphane Doncieux,Jean-Arcady Meyer,David Filliat International Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.1842 - 1847, ⟨10.1109/ROBOT.2008.4543475⟩ Communication dans un congrès hal-00647371v1
Incremental vision-based topological SLAM Adrien Angeli,Stéphane Doncieux,Jean-Arcady Meyer,David Filliat IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008, Sep 2008, Nice, France. pp.1031 - 1036, ⟨10.1109/IROS.2008.4650675⟩ Communication dans un congrès hal-00647374v1
Interactive learning of visual topological navigation David Filliat International Conference on Intelligent Robots and Systems (IROS), 2008, France. pp.248 - 254, ⟨10.1109/IROS.2008.4650681⟩ Communication dans un congrès hal-00641356v1
A visual bag of words method for interactive qualitative localization and mapping David Filliat International Conference on Robotics and Automation, 2007, Italy. pp.3921 - 3926, ⟨10.1109/ROBOT.2007.364080⟩ Communication dans un congrès hal-00640996v1
2D Simultaneous Localization And Mapping for Micro Air Vehicles Adrien Angeli,David Filliat,Stéphane Doncieux,Jean-Arcady Meyer European Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany Communication dans un congrès hal-00655111v1
State of the artificial rat Psikharpax David Filliat,Benoît Girard,Agnès Guillot,Mehdi Khamassi,Loïc Lachèzeet al. SAB 2004 - 8th International Conference on Simulation of Adaptive Behavior, Jul 2004, Los Angeles, CA, United States. pp.3-12 Communication dans un congrès hal-00016411v1
An integration of two control architectures of action selection and navigation inspired by neural circuits in the vertebrates: The basal ganglia Benoît Girard,David Filliat,Jean-Arcady Meyer,Alain Berthoz,Agnès Guillot 8th Neural Computation and Psychology Workshop, Aug 2004, University of Kent, United Kingdom. pp.72-81 Communication dans un congrès hal-00016409v1
Controlling the autonomy of a reconnaissance robot André Dalgalarrondo,Delphine Dufourd,David Filliat SPIE Defense and Security 2004 Symposium. Unmanned Ground Vehicle Technology VI Conference, 2004, United States. pp.314, ⟨10.1117/12.547270⟩ Communication dans un congrès hal-00655171v1
Global localization and topological map learning for robot navigation David Filliat,Jean-Arcady Meyer Seventh International Conference on simulation of adaptive behavior : From Animals to Animats (SAB-2002), 2002, Edinburgh, United Kingdom. pp.131--140 Communication dans un congrès hal-00655477v1
Active perception and map-learning for robot navigation David Filliat,Jean-Arcady Meyer 6th Conferences on Simulation of Adaptive Behavior., Sep 2000, Paris, France. pp.246-255 Communication dans un congrès hal-01573205v1
Incremental evolution of neural controllers for navigation in a 6-legged robot David Filliat,Jérôme Kodjabachian,Jean-Arcady Meyer 4th International Symposium on Artificial Life and Robotics, Jan 1999, Oita, Japan. pp.745-750 Communication dans un congrès hal-01574471v1

Poster de conférence (2)

Spatially Coherent Costmap: A Weakly Supervised Pipeline for Outdoor Traversability Guillaume Thomas,Damien Bouchabou,Tom Ravaud,David Filliat,Alexandre Chapoutot IEEE/RSJ International Conference on Intelligent Robots and Systems - Late Breacking results, Oct 2024, Abu Dhabi, Saudi Arabia. Late Breacking results Poster de conférence hal-05424044v1
DroMOOC Sylvain Bertrand,Julien Marzat,Cristina Stoica Maniu,Maria Makarov,David Filliatet al. 4ème Journée Initiatives Pédagogiques de l’Université Paris-Saclay, Nov 2018, Gif-sur-Yvette, France Poster de conférence hal-02275303v1

Chapitre d'ouvrage (3)

A review of classical and learning based approaches in task and motion planning Kai Zhang,Eric Lucet,Julien Alexandre Dit Sandretto,Selma Kchir,David Filliat Informatics 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⟩ Chapitre d'ouvrage hal-04316434v1
Evolutionary Approaches to Neural Control of Rolling, Walking, Swimming and Flying Animats or Robots Jean-Arcady Meyer,Stéphane Doncieux,David Filliat,Agnès Guillot Duro, 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⟩ Chapitre d'ouvrage hal-00655476v1
Utilisation de mécanismes de perception active pour la navigation d'un robot mobile David Filliat Intelligence Artificielle Située, Hermès, pp.160-174, 1999 Chapitre d'ouvrage hal-01574472v1

Autre publication scientifique (1)

Manuel d'éducation des jeunes robots à l'usage de leurs maitres David Filliat 2010 Autre publication scientifique hal-00655006v1

Pré-publication, Document de travail (4)

An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack Rémi Marsal,Quentin Picard,Adrien Poiré,Sébastien Kerbourc'H,Thibault Toralbaet al. 2026 Pré-publication, Document de travail hal-05582112v1
DREAM Architecture: a Developmental Approach to Open-Ended Learning in Robotics Stephane Doncieux,Nicolas Bredeche,Léni Kenneth Le Goff,Benoît Girard,Alexandre Coninxet al. 2020 Pré-publication, Document de travail hal-02562103v1
Unsupervised state representation learning with robotic priors: a robustness benchmark Timothée Lesort,Mathieu Seurin,Xinrui Li,Natalia Díaz Rodríguez,David Filliat 2017 Pré-publication, Document de travail hal-01644423v1
Gated networks: an inventory Olivier Sigaud,Clément Masson,David Filliat,Freek Stulp 2016 Pré-publication, Document de travail hal-01313601v1

Thèse (1)

Cartographie et estimation globale de la position pour un robot mobile autonome David Filliat Robotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2001. Français. ⟨NNT : ⟩ Thèse tel-00655469v1

HDR (1)

Navigation, perception et apprentissage pour la robotique David Filliat Robotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2011 HDR tel-00649692v1

Cours (1)

Robotique Mobile David Filliat Engineering school. Robotique Mobile, ENSTA ParisTech, 2011, pp.175 Cours cel-00655005v1