Nicolas Perrin-Gilbert

59
Documents

Présentation

Je suis roboticien et chercheur en apprentissage automatique.
Je travaille comme chargé de recherche au CNRS à l'ISIR (https://www.isir.upmc.fr/?lang=en), un laboratoire de Sorbonne Université à Paris, France.

Mots clés : apprentissage automatique, apprentissage par renforcement, apprentissage de représentation, planification de mouvement, contrôle, locomotion à pattes, robots à pattes.

Liens : ISIR / Github / DBLP / Google Scholar / Videos

Publications

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Publications

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Exploratory State Representation Learning

Astrid Merckling , Nicolas Perrin-Gilbert , Alex Coninx , Stéphane Doncieux

Frontiers in Robotics and AI, 2022, 9, pp.762051. ⟨10.3389/frobt.2022.762051⟩

Article dans une revue hal-03864236v1

The stability investigation of variable viscosity control in the human‐robot interaction

Lin Dong , Nicolas Perrin , Florian Richer , Agnes Roby-Brami , Guillaume Morel

The International Journal of Medical Robotics and Computer Assisted Surgery, 2022, 18 (5), ⟨10.1002/rcs.2416⟩

Article dans une revue hal-03869394v1
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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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue 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

IEEE Transactions on Robotics, 2012, 28 (2), p.427-439. ⟨10.1109/TRO.2011.2172152⟩

Article dans une revue hal-00662550v1
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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⟩

Article dans une revue inria-00578844v1
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Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement Learning

Franki Nguimatsia Tiofack , Théotime Le Hellard , Fabian Schramm , Nicolas Perrin-Gilbert , Justin Carpentier

ICLR 2026 - The Fourteenth International Conference on Learning Representations, Apr 2026, Rio de Janeiro, Brazil

Communication dans un congrès hal-05400311v2

Learning to explore when mistakes are not allowed

Charly Pecqueux-Guézénec , Stéphane Doncieux , Nicolas Perrin-Gilbert

AAMAS '25: the 24th International Conference on Autonomous Agents and Multiagent Systems, May 2025, Detroit (MI), France. pp.2708 - 2710

Communication dans un congrès hal-05398864v1

Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration

Alexandre Chenu , Olivier Serris , Olivier Sigaud , Nicolas Perrin-Gilbert

2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, France. pp.405-412, ⟨10.1109/Humanoids65713.2025.11203179⟩

Communication dans un congrès hal-05398834v1
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Reference-Free Sampling-Based Model Predictive Control

Fabian Schramm , Pierre Fabre , Nicolas Perrin-Gilbert , Justin Carpentier

ICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienna, Austria

Communication dans un congrès hal-05401976v2

Layered Controller Synthesis for Dynamic Multi-agent Systems

Emily Clement , Nicolas Perrin-Gilbert , Philipp Schlehuber-Caissier

International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS 2023), Sep 2023, Antwerp, Belgium. pp.50-68, ⟨10.1007/978-3-031-42626-1_4⟩

Communication dans un congrès hal-04237998v1

The Quality-Diversity Transformer: Generating Behavior-Conditioned Trajectories with Decision Transformers

Valentin Macé , Raphaël Boige , Felix Chalumeau , Thomas Pierrot , Guillaume Richard et al.

GECCO '23: Genetic and Evolutionary Computation Conference, Jul 2023, Lisbon Portugal, France. pp.1221-1229, ⟨10.1145/3583131.3590433⟩

Communication dans un congrès hal-04237993v1

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⟩

Communication dans un congrès hal-03864262v1

Assessing Quality-Diversity Neuro-Evolution Algorithms Performance in Hard Exploration Problems

Felix Chalumeau , Thomas Pierrot , Valentin Macé , Arthur Flajolet , Karim Beguir et al.

GECCO 2022 Workshop on Quality Diversity Algorithm Benchmarks, Jul 2022, Boston (MA), United States

Communication dans un congrès hal-04237990v1
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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. pp.8630-8637, ⟨10.1109/IROS47612.2022.9982020⟩

Communication dans un congrès hal-03753530v1
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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

Communication dans un congrès hal-03753541v1

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⟩

Communication dans un congrès 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⟩

Communication dans un congrès hal-03404366v1
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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⟩

Communication dans un congrès hal-03080925v1

State Representation Learning from Demonstration

Astrid Merckling , Alexandre Coninx , Loic Cressot , Stephane Doncieux , Nicolas Perrin

6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy

Communication dans un congrès hal-03083156v1
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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⟩

Communication dans un congrès hal-03080918v1

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

Communication dans un congrès 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⟩

Communication dans un congrès 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

Communication dans un congrès hal-01388632v1
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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⟩

Communication dans un congrès hal-03089494v1
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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⟩

Communication dans un congrès hal-03089490v1
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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

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩

Communication dans un congrès hal-01394903v1
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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⟩

Communication dans un congrès hal-01394896v1
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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⟩

Communication dans un congrès istex hal-03089485v1
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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⟩

Communication dans un congrès hal-02487630v1
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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

IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0

Communication dans un congrès 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⟩

Communication dans un congrès 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, ⟨10.1109/Humanoids.2011.6100844⟩

Communication dans un congrès 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. ⟨10.1109/ICRA.2011.5979917⟩

Communication dans un congrès 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, ⟨10.1109/ROBOT.2010.5509395⟩

Communication dans un congrès 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⟩

Communication dans un congrès 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

Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩

Communication dans un congrès 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⟩

Communication dans un congrès inria-00579009v1
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Biped Footstep Planning

Nicolas Perrin

Ambarish Goswami; Prahlad Vadakkepat. Humanoid Robotics: A Reference, Springer Netherlands, pp.1-21, 2017, 978-9400760455. ⟨10.1007/978-94-007-7194-9_29-1⟩

Chapitre d'ouvrage 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⟩

Chapitre d'ouvrage hal-01395104v1
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Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation

Fabian Schramm , Franki Nguimatsia Tiofack , Nicolas Perrin-Gilbert , Marc Toussaint , Justin Carpentier

2026

Pré-publication, Document de travail hal-05492619v1
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First-order Sobolev Reinforcement Learning

Fabian Schramm , Nicolas Perrin-Gilbert , Justin Carpentier

2025

Pré-publication, Document de travail hal-05401970v1

AFU: Actor-Free critic Updates in off-policy RL for continuous control

Nicolas Perrin-Gilbert

2024

Pré-publication, Document de travail hal-04822857v1

Single-Reset Divide & Conquer Imitation Learning

Alexandre Chenu , Olivier Serris , Olivier Sigaud , Nicolas Perrin-Gilbert

2024

Pré-publication, Document de travail hal-04822877v1
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A Definition of Open-Ended Learning Problems for Goal-Conditioned Agents

Olivier Sigaud , Gianluca Baldassarre , Cédric Colas , Stephane Doncieux , Richard Duro et al.

2024

Pré-publication, Document de travail hal-04810195v1

Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration

Alexandre Chenu , Olivier Serris , Olivier Sigaud , Nicolas Perrin-Gilbert

2022

Pré-publication, Document de travail hal-04823341v1
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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

Pré-publication, Document de travail hal-03196479v1

Learning Compositional Neural Programs for Continuous Control

Thomas Pierrot , Nicolas Perrin , Feryal Behbahani , Alexandre Laterre , Olivier Sigaud et al.

2020

Pré-publication, Document de travail hal-03083161v1

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

Geoffrey Cideron , Thomas Pierrot , Nicolas Perrin , Karim Beguir , Olivier Sigaud

2020

Pré-publication, Document de travail hal-03083159v1

Importance mixing: Improving sample reuse in evolutionary policy search methods

Aloïs Pourchot , Nicolas Perrin , Olivier Sigaud

2019

Pré-publication, Document de travail hal-02397754v1

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

Thomas Pierrot , Nicolas Perrin , Olivier Sigaud

2019

Pré-publication, Document de travail 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

Pré-publication, Document de travail hal-00805981v1
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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

Pré-publication, Document de travail 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

Rapport (rapport de recherche) hal-02397867v1
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Footstep planning for humanoid robots : discrete and continuous approaches

Nicolas Perrin

Other [cs.OH]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨NNT : 2011INPT0080⟩

Thèse tel-04241437v2