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
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Diversity policy gradient for sample efficient quality-diversity optimizationGECCO '22: Genetic and Evolutionary Computation Conference, Jul 2022, Boston, United States. pp.1075-1083, ⟨10.1145/3512290.3528845⟩
Conference papers
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DIVERSITY POLICY GRADIENT FOR SAMPLE EFFI-CIENT QUALITY-DIVERSITY OPTIMIZATIONWorkshop on Agent Learning in Open-Endedness (ALOE) at ICLR 2022, 2022, virtual, Vatican City
Conference papers
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Divide & Conquer Imitation Learning2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan
Conference papers
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First-Order and Second-Order Variants of the Gradient Descent in a Unified Framework30th 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
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Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms30th 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
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State Representation Learning from Demonstration6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy
Conference papers
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PBCS: Efficient Exploration and Exploitation Using a Synergy Between Reinforcement Learning and Motion PlanningArtificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.295-307, ⟨10.1007/978-3-030-61616-8_24⟩
Conference papers
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Understanding Failures of Deterministic Actor-Critic with Continuous Action Spaces and Sparse RewardsArtificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.308-320, ⟨10.1007/978-3-030-61616-8_25⟩
Conference papers
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Learning Compositional Neural Programs with Recursive Tree Search and PlanningAdvances in Neural Information Processing Systems 32 (NeurIPS 2019), Dec 2019, Vancouver, Canada
Conference papers
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Computing regions of stabilizability for nonlinear control systems with input constraintsAmerican Control Conference (ACC'18), 2018, Milwaukee, United States. pp.2869-2876, ⟨10.23919/ACC.2018.8430798⟩
Conference papers
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Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar ContactsInternational Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy
Conference papers
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Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, China. pp.210 - 215, ⟨10.1109/ICRA.2014.6906611⟩
Conference papers
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Lyapunov Stability Margins for humanoid robot balancing2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩
Conference papers
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Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN2013 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
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Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance2013 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
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LMPC based online generation of more efficient walking motionsIEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩
Conference papers
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From Discrete to Continuous Motion PlanningTenth 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
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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding boxIEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0
Conference papers
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Weakly collision-free paths for continuous humanoid footstep planningInternational 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
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Real-time Replanning Using 3D Environment for Humanoid RobotIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589
Conference papers
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A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality ReductionIEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China
Conference papers
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Approximation of Feasibility Tests for Reactive Walk on HRP-2IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6
Conference papers
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Walking without thinking about itIROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.190-195, ⟨10.1109/IROS.2010.5654429⟩
Conference papers
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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interactionHumanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩
Conference papers
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Tree Automata with Memory, Visibility and Structural Constraints10th 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
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Biped Footstep PlanningHumanoid Robotics: A Reference, Springer Netherlands, pp.1-21, 2017, ⟨10.1007/978-94-007-7194-9_29-1⟩
Book sections
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Timed-Automata Abstraction of Switched Dynamical Systems Using Control FunnelsFormal 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
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Warm-Starting Fixed-Point Based Control Synthesis[Research Report] University of Michigan-Ann Arbor; Cnrs; Sorbonne Université. 2018
Reports
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Footstep planning for humanoid robots: discrete and continuous approachesRobotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨NNT : ⟩
Theses
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