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Nicolas Perrin-Gilbert

13
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](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")
I am a roboticist and machine learning researcher. I work as a permanent CNRS research scientist (*chargé de recherche*) at [ISIR](https://www.isir.upmc.fr/?lang=en), a laboratory of Sorbonne University in Paris, France. Key words: *machine learning, reinforcement learning, representation learning, motion planning, control, legged locomotion, legged robots*. 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

48604

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

Valentin Macé , Raphaël Boige , Felix Chalumeau , Thomas Pierrot , Guillaume Richard
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
Image document

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

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

Felix Chalumeau , Thomas Pierrot , Valentin Macé , Arthur Flajolet , Karim Beguir
GECCO 2022 Workshop on Quality Diversity Algorithm Benchmarks, Jul 2022, Boston (MA), United States
Communication dans un congrès hal-04237990v1

Diversity policy gradient for sample efficient quality-diversity optimization

Thomas Pierrot , Valentin Macé , Felix Chalumeau , Arthur Flajolet , Geoffrey Cideron
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

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

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

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

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
Advances in Neural Information Processing Systems 32 (NeurIPS 2019), Dec 2019, Vancouver, Canada
Communication dans un congrès hal-03080949v1