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Nicolas Perrin-Gilbert

48
Documents

Presentation

I am a Permanent CNRS researcher at [ISIR](https://www.isir.upmc.fr/?lang=en), a laboratory of Sorbonne University in Paris, France. My main research objective is to develop and analyze **learning and planning algorithms for complex dynamical systems.** Key words: *reinforcement learning, machine learning, motion planning, robot control, humanoid robotics*. Links: [ISIR](https://www.isir.upmc.fr/personnel/perrin/ "ISIR") / [Github](https://github.com/perrin-isir "Github") / [DBLP](https://dblp.org/pid/37/1452.html "DBLP") / [Google Scholar](https://scholar.google.com/citations?user=_UceE6YAAAAJ&hl=fr "Google Scholar") / [Videos](https://www.youtube.com/channel/UC9incxmKuvpvWWfCIQbQq1A/videos "Videos")

Publications

Exploratory State Representation Learning

Astrid Merckling , Nicolas Perrin-Gilbert , Alex Coninx , Stéphane Doncieux
Frontiers in Robotics and AI, 2022, 9, ⟨10.3389/frobt.2022.762051⟩
Journal articles hal-03864236v1
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Open-Ended Learning: A Conceptual Framework Based on Representational Redescription

Stéphane Doncieux , David Filliat , Natalia Díaz-Rodríguez , Timothy Hospedales , Richard Duro et al.
Frontiers in Neurorobotics, 2018, 12, pp.59. ⟨10.3389/fnbot.2018.00059⟩
Journal articles hal-01889947v1
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Timed-automata abstraction of switched dynamical systems using control invariants

Patricia Bouyer , Nicolas Markey , Nicolas Perrin , Philipp Schlehuber-Caissier
Real-Time Systems, 2017, pp.1-27. ⟨10.1007/s11241-016-9262-3⟩
Journal articles hal-01436413v1
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Continuous Legged Locomotion Planning

Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux et al.
IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩
Journal articles hal-01433866v1
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Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems

Nicolas Perrin , Philipp Schlehuber-Caissier
Systems and Control Letters, 2016, 96, pp.51 - 59. ⟨10.1016/j.sysconle.2016.06.018⟩
Journal articles hal-01394886v1
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Humanoid motion generation and swept volumes: theoretical bounds for safe steps

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
Advanced Robotics, 2013, 27 (14), pp.1045 - 1058. ⟨10.1080/01691864.2013.805468⟩
Journal articles hal-01113510v1
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Fast humanoid robot collision-free footstep planning using swept volume approximations

Nicolas Perrin , Olivier Stasse , Léo Baudouin , Florent Lamiraux , Eiichi Yoshida et al.
IEEE Transactions on Robotics, 2012, 28 (2), p.427-439
Journal articles hal-00662550v1

Fast humanoid robot collision-free footstep planning using swept volume approximations

Nicolas Perrin , Olivier Stasse , Léo Baudouin , Florent Lamiraux , Eiichi Yoshida et al.
IEEE Transactions on Robotics, 2012, 28 (2), pp.0-0
Journal articles hal-00662545v1

SIDE-CAR : Un outil numérique d’aide à l’analyse de l’activité par rétrodiction. Exploitation selon le cadre théorique du "cours d’action"

Nicolas Perrin , Jacques Theureau , Jacques Menu , Marc Durand
Recherches Qualitatives, 2011, 30 (2), pp.148-174
Journal articles hal-01106696v1
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Visibly Tree Automata with Memory and Constraints

Hubert Comon-Lundh , Florent Jacquemard , Nicolas Perrin
Logical Methods in Computer Science, 2008, 4 (2), ⟨10.2168/LMCS-4(2:8)2008⟩
Journal articles inria-00578844v1

Diversity policy gradient for sample efficient quality-diversity optimization

Thomas Pierrot , Valentin Macé , Felix Chalumeau , Arthur Flajolet , Geoffrey Cideron et al.
GECCO '22: Genetic and Evolutionary Computation Conference, Jul 2022, Boston, United States. pp.1075-1083, ⟨10.1145/3512290.3528845⟩
Conference papers hal-03864262v1
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DIVERSITY POLICY GRADIENT FOR SAMPLE EFFI-CIENT QUALITY-DIVERSITY OPTIMIZATION

Thomas Pierrot , Valentin Macé , Felix Chalumeau , Arthur Flajolet , Geoffrey Cideron et al.
Workshop on Agent Learning in Open-Endedness (ALOE) at ICLR 2022, 2022, virtual, Vatican City
Conference papers hal-03753541v1
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Divide & Conquer Imitation Learning

Alexandre Chenu , Nicolas Perrin-Gilbert , Olivier Sigaud
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan
Conference papers hal-03753530v1

First-Order and Second-Order Variants of the Gradient Descent in a Unified Framework

Thomas Pierrot , Nicolas Perrin-Gilbert , Olivier Sigaud
30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.197-208, ⟨10.1007/978-3-030-86340-1_16⟩
Conference papers hal-03404369v1

Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms

Alexandre Chenu , Nicolas Perrin-Gilbert , Stéphane Doncieux , Olivier Sigaud
30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.568-579, ⟨10.1007/978-3-030-86380-7_46⟩
Conference papers hal-03404366v1

State Representation Learning from Demonstration

Astrid Merckling , Alexandre Coninx , Loic Cressot , Stephane Doncieux , Nicolas Perrin et al.
6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy
Conference papers hal-03083156v1

PBCS: Efficient Exploration and Exploitation Using a Synergy Between Reinforcement Learning and Motion Planning

Guillaume Matheron , Nicolas Perrin , Olivier Sigaud
Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.295-307, ⟨10.1007/978-3-030-61616-8_24⟩
Conference papers hal-03080918v1

Understanding Failures of Deterministic Actor-Critic with Continuous Action Spaces and Sparse Rewards

Guillaume Matheron , Nicolas Perrin , Olivier Sigaud
Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.308-320, ⟨10.1007/978-3-030-61616-8_25⟩
Conference papers hal-03080925v1

Learning Compositional Neural Programs with Recursive Tree Search and Planning

Thomas Pierrot , Guillaume Ligner , Scott Reed , Olivier Sigaud , Nicolas Perrin et al.
Advances in Neural Information Processing Systems 32 (NeurIPS 2019), Dec 2019, Vancouver, Canada
Conference papers hal-03080949v1
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Computing regions of stabilizability for nonlinear control systems with input constraints

Philipp Schlehuber-Caissier , Nicolas Perrin
American Control Conference (ACC'18), 2018, Milwaukee, United States. pp.2869-2876, ⟨10.23919/ACC.2018.8430798⟩
Conference papers hal-03135362v1
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Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts

Nicolas Perrin , Darwin Lau , Vincent Padois
International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy
Conference papers hal-01388632v1
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Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking

Luca Colasanto , Nicolas Perrin , Nikos G Tsagarakis , Darwin G Caldwell
2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, China. pp.210 - 215, ⟨10.1109/ICRA.2014.6906611⟩
Conference papers hal-01394896v1
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Lyapunov Stability Margins for humanoid robot balancing

Emmanouil Spyrakos-Papastavridis , Nicolas Perrin , Nikos G Tsagarakis , Jian S. Dai , Darwin G. Caldwell et al.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩
Conference papers hal-01394903v1

Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN

Nicolas Perrin , Nikolaos Tsagarakis , Darwin Caldwell
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov 2013, Tokyo, Japan. pp.4145-4151, ⟨10.1109/IROS.2013.6696950⟩
Conference papers hal-03089490v1

Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance

Enrico Mingo Hoffman , Nicolas Perrin , Nikos Tsagarakis , Darwin Caldwell
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), Oct 2013, Atlanta, United States. pp.397-402, ⟨10.1109/HUMANOIDS.2013.7030005⟩
Conference papers hal-03089494v1
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LMPC based online generation of more efficient walking motions

Andrei Herdt , Nicolas Perrin , Pierre-Brice Wieber
IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩
Conference papers hal-02487630v1

From Discrete to Continuous Motion Planning

Nicolas Perrin
Tenth Workshop on the Algorithmic Foundations of Robotics, Jun 2012, Cambridge, Massachusetts, United States. pp.89-104, ⟨10.1007/978-3-642-36279-8_6⟩
Conference papers hal-03089485v1
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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Youn J. Kim , Dinesh Manocha et al.
IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0
Conference papers hal-00668794v1
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Weakly collision-free paths for continuous humanoid footstep planning

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩
Conference papers hal-00639026v1
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Real-time Replanning Using 3D Environment for Humanoid Robot

Léo Baudouin , Nicolas Perrin , Thomas Moulard , Florent Lamiraux , Olivier Stasse et al.
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589
Conference papers hal-00601300v1
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A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China
Conference papers hal-00593659v1
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Approximation of Feasibility Tests for Reactive Walk on HRP-2

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6
Conference papers hal-00455454v1
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Walking without thinking about it

Andrei Herdt , Nicolas Perrin , Pierre-Brice Wieber
IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.190-195, ⟨10.1109/IROS.2010.5654429⟩
Conference papers inria-00567668v1
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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Olivier Stasse , Paul Evrard , Nicolas Perrin , Nicolas Mansard , Abderrahmane Kheddar et al.
Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩
Conference papers hal-00507141v1
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Tree Automata with Memory, Visibility and Structural Constraints

Hubert Comon-Lundh , Florent Jacquemard , Nicolas Perrin
10th International Conference on Foundations of Software Science and Computation Structures (FOSSACS), Mar 2007, Braga, Portugal. pp.168-182, ⟨10.1007/978-3-540-71389-0_13⟩
Conference papers inria-00579009v1

Biped Footstep Planning

Nicolas Perrin
Humanoid Robotics: A Reference, Springer Netherlands, pp.1-21, 2017, ⟨10.1007/978-94-007-7194-9_29-1⟩
Book sections hal-03089498v1
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Timed-Automata Abstraction of Switched Dynamical Systems Using Control Funnels

Patricia Bouyer , Nicolas Markey , Nicolas Perrin , Philipp Schlehuber-Caissier
Formal Modeling and Analysis of Timed Systems, 9268, Springer International Publishing, pp.60 - 75, 2015, Lecture Notes in Computer Science, 978-3-319-22974-4. ⟨10.1007/978-3-319-22975-1_5⟩
Book sections hal-01395104v1
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Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms

Alexandre Chenu , Nicolas Perrin-Gilbert , Stephane Doncieux , Olivier Sigaud
2021
Preprints, Working Papers, ... hal-03196479v1

Learning Compositional Neural Programs for Continuous Control

Thomas Pierrot , Nicolas Perrin , Feryal Behbahani , Alexandre Laterre , Olivier Sigaud et al.
2020
Preprints, Working Papers, ... hal-03083161v1

QD-RL: Efficient Mixing of Quality and Diversity in Reinforcement Learning

Geoffrey Cideron , Thomas Pierrot , Nicolas Perrin , Karim Beguir , Olivier Sigaud et al.
2020
Preprints, Working Papers, ... hal-03083159v1

Importance mixing: Improving sample reuse in evolutionary policy search methods

Aloïs Pourchot , Nicolas Perrin , Olivier Sigaud
2019
Preprints, Working Papers, ... hal-02397754v1

First-order and second-order variants of the gradient descent in a unified framework

Thomas Pierrot , Nicolas Perrin , Olivier Sigaud
2019
Preprints, Working Papers, ... hal-02397757v1
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A Continuous Approach to Legged Locomotion Planning

Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux et al.
2013
Preprints, Working Papers, ... hal-00805981v1
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Probabilistic Interpretation for the Nonlinear Poisson-Boltzmann Equation in Molecular Dynamics

Nicolas Perrin
2012
Preprints, Working Papers, ... hal-00648180v3
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Adaptive sampling-based approximation of the sign of multivariate real-valued functions

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
2010
Preprints, Working Papers, ... hal-00544891v1
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Warm-Starting Fixed-Point Based Control Synthesis

Zexiang Liu , Necmiye Ozay , Nicolas Perrin
[Research Report] University of Michigan-Ann Arbor; Cnrs; Sorbonne Université. 2018
Reports hal-02397867v1
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Footstep planning for humanoid robots: discrete and continuous approaches

Nicolas Perrin
Robotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨NNT : ⟩
Theses tel-00647469v1