Olivier Sigaud
Présentation
Publications
Publications
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I-FailSense: Towards General Robotic Failure Detection with Vision-Language ModelsIEEE International Conference on Robotics & Automation (ICRA 2026), Jun 2026, Vienne, Austria |
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Imagine Beyond! Distributionally Robust Auto-Encoding for State Space Coverage in Online Reinforcement LearningNeurips 2025, Dec 2025, San DIego, United States |
Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, France. pp.405-412, ⟨10.1109/Humanoids65713.2025.11203179⟩ |
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MAGELLAN: Metacognitive predictions of learning progress guide autotelic LLM agents in large goal spacesICML 2025 - 42nd International Conference on Machine Learning, Jul 2025, Vancouver (BC), Canada |
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Reinforcement Learning for Aligning Large Language Models Agents with Interactive Environments: Quantifying and Mitigating Prompt OverfittingNAACL 2025 - Findings of the Association for Computational Linguistics, Apr 2025, Albuquerque, United States. pp.7030-7046, ⟨10.18653/v1/2025.findings-naacl.390⟩ |
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Stein Variational Goal Generation for adaptive Exploration in Multi-Goal Reinforcement LearningICML, Jul 2023, Honolulu (Hawai), United States |
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Co-Apprentissage Humain-Machine: Cas d'Étude en Acquisition de Compétences Motrices34ème conférence Francophone sur l'Interaction Humain-Machine, Apr 2023, Troyes, France |
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Grounding Large Language Models in Interactive Environments with Online Reinforcement LearningInternational Conference on Machine Learning 2023, Jul 2023, Honololu, Hawaii, United States |
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Neural Architecture Search for Fracture Classification29th IEEE International Conference on Image Processing (ICIP 2022), Oct 2022, Bordeaux, France |
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EAGER: Asking and Answering Questions for Automatic Reward Shaping in Language-guided RLNeurIPS 2022 - Thirty-sixth Conference on Neural Information Processing Systems, Nov 2022, Nouvelle-Orléans, United States |
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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⟩ |
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LEARNING OBJECT-CENTERED AUTOTELIC BEHAVIORS WITH GRAPH NEURAL NETWORKSConference on Lifelong Learning Agents - CoLLAs 2022, Aug 2022, Montréal, Canada |
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Pragmatically Learning from Pedagogical Demonstrations in Multi-Goal EnvironmentsThirty-sixth Conference on Neural Information Processing Systems (NeurIPS 2022), Nov 2022, New Orleans, United States |
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Divide & Conquer Imitation Learning2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. pp.8630-8637, ⟨10.1109/IROS47612.2022.9982020⟩ |
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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 |
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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⟩ |
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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⟩ |
Teaching a Robot with Unlabeled Instructions: The TICS ArchitectureAAMAS 2021, May 2021, London (virtual), United Kingdom |
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Grounding Language to Autonomously-Acquired Skills via Goal GenerationICLR 2021 - Ninth International Conference on Learning Representation, May 2021, Vienna / Virtual, Austria |
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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⟩ |
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OFFLINE REINFORCEMENT LEARNING HANDS-ONNeurIPS 2020 Offline Reinforcement Learning Workshop, 2020, Virtual, Micronesia |
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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⟩ |
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Tirl: enriching actor-critic RL with non-expert human teachers and a trust modelThe 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN, 2020, Napoli, Italy |
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CURIOUS: Intrinsically Motivated Modular Multi-Goal Reinforcement LearningICML 2019 - Thirty-sixth International Conference on Machine Learning, Jun 2019, Long Beach, United States |
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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 |
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CEM-RL: Combining evolutionary and gradient-based methods for policy search7th International Conference on Learning Representations, ICLR 2019, May 2019, New Orleans, United States |
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A Hitchhiker's Guide to Statistical Comparisons of Reinforcement Learning AlgorithmsICLR Worskhop on Reproducibility, May 2019, Nouvelle-Orléans, United States |
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Modélisation des stratégies de génération de choix variables chez la sourisConférence Nationale en Intelligence Artificielle, Jul 2019, Toulouse, France |
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GEP-PG: Decoupling Exploration and Exploitation in Deep Reinforcement Learning AlgorithmsInternational Conference on Machine Learning (ICML), Jul 2018, Stockholm, Sweden |
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GEP-PG: Decoupling Exploration and Exploitation in Deep Reinforcement Learning AlgorithmsJournées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA 2018), Jul 2018, Nancy, France |
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Unsupervised Learning of Goal Spaces for Intrinsically Motivated Goal ExplorationICLR2018 - 6th International Conference on Learning Representations, Apr 2018, Vancouver, Canada |
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Tensor based knowledge transfer across skill categories for robot controlInternational Joint Conference in Artificial Intelligence (IJCAI), 2017, Melbourne, Australia. pp.1-7, ⟨10.24963/ijcai.2017/484⟩ |
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Combining artificial curiosity and tutor guidance for environment explorationWorkshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics at IEEE RO-MAN 2017, Aug 2017, Lisbon, Portugal |
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The Successor Representation as a model of behavioural flexibilityJournées Francophones sur la Planification, la Décision et l'Apprentissage pour la conduite de systèmes (JFPDA 2017), Jul 2017, Caen, France |
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Efficient Reinforcement Learning for Humanoid Whole-Body ControlIEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico |
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Training a robot with evaluative feedback and unlabeled guidance signalsRO-MAN, 2016, New York, United States. pp.261-266, ⟨10.1109/ROMAN.2016.7745140⟩ |
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Social-Task Learning for HRIInternational Conference on Social Robotics, Oct 2015, Paris, France. pp.472-481, ⟨10.1007/978-3-319-25554-5_47⟩ |
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Socially Guided XCSGECCO Companion '15 Proceedings of the Companion Publication of the 2015 Annual Conference on Genetic and Evolutionary Computation, Jul 2015, Madrid, Spain. pp.1021-1028, ⟨10.1145/2739482.2768452⟩ |
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Socially guided xcs: using teaching signals to boost learningGECCO (Companion), 2015, Madrid, Spain. pp.1021-1028, ⟨10.1145/2739482.2768452⟩ |
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Learning a Repertoire of Actions with Deep Neural NetworksJoint International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Oct 2014, Italy. 6 p |
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Multiple Task Optimization using Dynamical Movement Primitives for Whole-Body Reactive ControlIEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain |
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Non-linear regression algorithms for motor skill acquisition: a comparison9èmes Journées Francophones de Planification, Décision et Apprentissage, May 2014, Liège, Belgium |
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Robot initiative increases the rhythm of interaction in a team learning taskTiming in Human-Robot interaction, Workshop of the 9th ACM/IEEE Int. Conf. on Human-robot interaction - HRI, 2014, Bielefeld, Germany |
Learning object names through shared attentionIROS - Int. Workshop on Developmental Social Robotics, 2013, Madrid, Spain. pp.1-6 |
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Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robotJoint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2013, Osaka, Japan. pp.1--8, ⟨10.1109/DevLrn.2013.6652525⟩ |
Social Coordination Assessment: Distinguishing between Shape and TimingMultimodal Pattern Recognition of Social Signals in Human-Computer-Interaction, Nov 2012, Tsukuba, Japan. pp.9-18, ⟨10.1007/978-3-642-37081-6_2⟩ |
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Policy Improvement: Between Black-Box Optimization and Episodic Reinforcement LearningJournées Francophones Planification, Décision, et Apprentissage pour la conduite de systèmes, 2013, Lille, France |
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Cues for making a humanoid child more ''human-like'' during social learning tasksIROS - Int. Workshop Towards social humanoid robots: what makes interaction human-like?, 2013, Tokyo, Japan. pp.1-6 |
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Gated Autoencoders with Tied Input WeightsInternational Conference on Machine Learning, 2013, United States |
Learning Compact Parameterized Skills with a Single RegressionIEEE-RAS International Conference on Humanoid Robots, 2013, Atlanta, United States |
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Multimodal People Engagement with iCubBiologically Inspired Cognitive Architectures, Oct 2012, Palermo, Italy. pp.59-64, ⟨10.1007/978-3-642-34274-5_16⟩ |
Towards fast and adaptive optimal control policies for robots: A direct policy search approachRobotica 2012, 2012, Guimaraes, Portugal. pp.21-26 |
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Autonomous Online Learning of Velocity Kinematics on the iCub: a Comparative StudyIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. To appear |
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Perception and human interaction for developmental learning of objects and affordancesProc. of the 12th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS, Nov 2012, Santa Monica, United States. ⟨10.1109/HUMANOIDS.2012.6651528⟩ |
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Which Temporal Difference Learning algorithm best reproduces dopamine activity in a multi-choice task?International Conference on Simulation of Adaptive Behaviour (SAB 2012), Aug 2012, Odense, Denmark. pp.289-298, ⟨10.1007/978-3-642-33093-3_29⟩ |
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Comparaison expérimentale d'algorithmes de régression pour l'apprentissage de modèles cinématiques du robot humanoïde iCubConférence Francophone sur l'Apprentissage Automatique, May 2012, Nancy, France. pp.95-110 |
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Comparaison expérimentale d'algorithmes de régression pour l'apprentissage de modèles cinématiques du robot humanoïde iCubConférence Francophone sur l'Apprentissage Automatique - CAp 2012, Laurent Bougrain, May 2012, Nancy, France. 16 p |
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Adaptation de la matrice de covariance pour l'apprentissage par renforcement directJournées Francophones sur la planification, la décision et l'apprentissage pour le contrôle des systèmes - JFPDA 2012, May 2012, Villers-lès-Nancy, France. 12 p |
Path Integral Policy Improvement with Covariance Matrix AdaptationProceedings of the 29th International Conference on Machine Learning (ICML), Jun 2012, Edinbourg, United Kingdom. pp.0-0 |
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Learning Velocity Kinematics: Experimental Comparison of On-line Regression AlgorithmsRobotica, Apr 2012, Guimaraes, Portugal. pp.15-20 |
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Reaching optimally over the workspace: a machine learning approachThe Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1128-1133, ⟨10.1109/BioRob.2012.6290743⟩ |
Learning Cost-Efficient Control Policies with XCSF: Generalization Capabilities and Further ImprovementGECCO 2011, 2011, Dublin, Ireland. pp.1235-1242 |
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Learning the velocity kinematics of iCub for model-based control: XCSF versus LWPR11th IEEE-RAS International Conference on Humanoid Robots - Humanoids 2011, Oct 2011, Bled, Slovenia. pp.570--575, ⟨10.1109/Humanoids.2011.6100818⟩ |
Apprentissage de politiques efficaces avec XCSF et CEPSJFPDA 2011, 2011, Rouen, France. pp.298-310 |
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XCSF with local deletion: preventing detrimental forgettingInternational Workshop on Learning Classifier Systems, 2011, Dublin, Ireland. pp.1-8 |
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Texdyna: hierarchical reinforcement learning in factored mdpsFrom Animals to Animats: Proceedings of the 11th International Conference on Adaptive Behaviour (SAB 2010), 2010, Paris, France. pp.489-500 |
Apprentissage par renforcement appliqué au contrôle moteur : reproduction du principe d'isochronieJFPDA 2010, 2010, Besançon, France. pp.1-11 |
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A comparative study: function approximation with lwpr and xcsfIWLCS 2010, 2010, Portland, United States. pp.1-8, ⟨10.1145/1830761.1830818⟩ |
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Characterization of a least effort user-centered trajectory for sit- to-stand assistance user-centered trajectory for sit-to-stand assistanceSymposium on Dynamics modeling and interaction control in virtual and real environments, 2010, Budapest, Hungary. pp.197-204 |
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Control of redundant robots using learned models: an operational space control approachIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.878--885, ⟨10.1109/IROS.2009.5354438⟩ |
Transfer of knowledge for a climbing virtual human: a reinforcement learning approachProceedings IEEE International Conference on Robotics and Automation, 2009, Kobe, Japan. pp.2119-2124 |
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Considering Unseen States as Impossible in Factored Reinforcement LearningEuropean Conference on Machine Learning, Sep 2009, Bled, Slovenia. pp.721-735, ⟨10.1007/978-3-642-04180-8_64⟩ |
Automated discovery of options in factored reinforcement learningProceedings of the ICML/UAI/COLT Workshop on Abstraction in Reinforcement Learning, 2009, Montreal, Canada. pp.24-29 |
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Compacting a rule base into an and/or diagram for game aiGAMEON, 2008, Valencia, Spain. pp.77-85 |
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Exploiting Additive Structure in Factored MDPs for Reinforcement LearningEuropean Workshop on Reinforcement Learning, Jun 2008, Villeneuve d’Ascq, France. pp.15-26, ⟨10.1007/978-3-540-89722-4_2⟩ |
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Un modéle computationnel de l'automatisation motriceDeuxième conférence française de Neurosciences Computationnelles, "Neurocomp08", Oct 2008, Marseille, France |
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Learning postures through sensorimotor training: a human simulation case studyProceedings of the Seventh International Conference on Epigenetic Robotics, 2007, Rutgers, Piscataway, NJ, Unknown Region. pp.29-36 |
Apprentissage par renforcement exploitant la structure additive des MDP factorisésJFPDA 2007 - 2e Journées Francophones Planification, Décision, Apprentissage pour la conduite de système, Jul 2007, Grenoble, France. pp.49-60 |
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Apprentissage de la structure des processus de décision markoviens factorisés pour l'apprentissage par renforcementJFPDA 2006 - 1ères Journées Francophones sur la Planification, Décision, Apprentissage pour la conduite de systèmes, May 2006, Toulouse, France. pp.89-96 |
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Learning the Structure of Factored Markov Decision Processes in Reinforcement Learning ProblemsThe 23rd International Conference on Machine Learning, Jun 2006, Pittsburgh, Pennsylvania, United States. pp.257-264, ⟨10.1145/1143844.1143877⟩ |
Chi-square Tests Driven Method for Learning the Structure of Factored MDPsThe 22nd conference on Uncertainty in Artificial Intelligence, Jul 2006, Massachusetts Institute of Technology, Cambridge, MA, United States. pp.122-129 |
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GACS, an Evolutionary Approach to the Spatial Coordination of AgentsAAMAS 2005 - 4th international joint conference on Autonomous agents and multiagent systems, Jul 2005, Utrecht, Netherlands. pp.1109-1110, ⟨10.1145/1082473.1082647⟩ |
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Towards a Reinforcement Learning Module for Navigation in Video GamesECML 2005 Workshop on Reinforcement Learning in Non-Stationary Environments, Oct 2005, Porto, Portugal. pp.1-12 |
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An Experimental Comparison between ATNoSFERES and ACS6th International Workshop on Learning Classifier Systems (IWLCS'2003), 2003, Chicago, United States. pp.144-160 |
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ATNoSFERES revisitedGECCO 2005 - 7th annual conference on Genetic and Evolutionary Computation Conference, , ACM SIGEVO, Jun 2005, Washington DC, United States. pp.1867-1874, ⟨10.1145/1068009.1068324⟩ |
Improving MACS thanks to a comparison with 2TBNsGECCO 2004 - Genetic and Evolutionary Computation Conference, Jun 2004, Seattle, WA, United States. pp.810-823, ⟨10.1007/978-3-540-24855-2_95⟩ |
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Using XCS to build adaptive agents4th Symposium on Adaptive Agents and Multi-Agent Systems (AAMAS-4), AISB convention, Mar 2004, Leeds, United Kingdom. pp.101-106 |
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Anticipation of Periodic Movements in Real Time 3D EnvironmentsABiALS 2004 - 2nd Workshop of Anticipatory Behavior in Adaptive Learning Systems, Jul 2004, Los Angeles, CA, United States. pp.51-61 |
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BASC, a Bottom-up Approach to automated design of Spatial CoordinationSAB 2004 - 8th International Conference on Simulation of Adaptive Behavior, Jul 2004, Los Angeles, CA, United States. pp.435-444 |
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A Michigan style architecture for learning finite state controllers: a first step7th International Workshop on Learning Classifier Systems, Jun 2004, Seattle, WA, United States |
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Apprentissage par renforcement indirect dans les systèmes de classeursTroisièmes Journées Nationales sur Processus Décisionnel de Markov et Intelligence Artificielle - PDMIA’03, 2003, Caen, France |
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Designing Efficient Exploration with MACS: Modules and Function ApproximationGenetic and Evolutionary Computation Conference 2003 (GECCO03), Jul 2003, Chicago, IL, United States. pp.1882-1893, ⟨10.1007/3-540-45110-2_85⟩ |
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A Comparison between ATNoSFERES and XCSMGECCO 2002: Genetic and Evolutionary Computation Conference, Jul 2002, New York, United States. pp.926-933 |
Spatial Coordination through Social Potential Fields and Genetic Algorithms7th International Conference on Simulation of Adaptive Behavior, 2002, Edimburg, United Kingdom. pp.389-390 |
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Further Comparison between ATNoSFERES and XCSMIWLCS 2002 - 5th International Workshop on Learning Classifier Systems, Sep 2002, Granada, Spain. pp.99-117, ⟨10.1007/978-3-540-40029-5_7⟩ |
Adding a Generalization Mechanism to YACSGECCO 2001 - 3rd Annual Conference on Genetic and Evolutionary Computation, Jul 2001, San Francisco, CA, United States. pp.951-957 |
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Using Classifier Systems as Adaptive Expert Systems for ControlIWLCS 2000 - 3rd International Workshop on Learning Classifier Systems, Sep 2000, Paris, France. pp.138-157, ⟨10.1007/3-540-44640-0_10⟩ |
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The use of roles in a multiagent adaptive simulation14th European Conference in Artificial Intelligence, Workshop on Balancing reactivity and Social Deliberation in Multiagent Systems, Aug 2000, Berlin, Germany |
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YACS : Combining Anticipation and Dynamic Programming in CLassifier SystemsIWLCS 2000 - 3rd International Workshop on Learning Classifier Systems, Sep 2000, Paris, France. pp.52-69, ⟨10.1007/3-540-44640-0_5⟩ |
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SAC-GLAM: Improving Online RL for LLM agents with Soft Actor-Critic and Hindsight RelabelingIMOL 2024 - Intrinsically Motivated Open-ended Learning (Workshop at Neurips), Dec 2024, Vancouver, Canada. 2024 |
Markov Decision Processes in Artificial IntelligenceOlivier Sigaud and Olivier Buffet. ISTE Ltd and John Wiley & Sons Inc, pp.455, 2010, 978-1-84821-167-4 |
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Processus décisionnels de Markov en intelligence artificielleLavoisier - Hermes Science Publications, 1 - principes généraux et applications, pp.258, 2008, IC2 - informatique et systèmes d'information, Bernard Dubuisson - Jean-Charles Pomerol, 978-2746220577 |
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Processus décisionnels de Markov en intelligence artificielleLavoisier - Hermes Science Publications, 2 - méthodes avancées et applications, pp.256, 2008, IC2 - informatique et systèmes d'information, Bernard Dubuisson - Jean-Charles Pomerol, 978-2746220584 |
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Anticipatory Behavior in Adaptive Learning SystemsSpringer, 2684, 2003, Lecture Notes in Computer Science, ⟨10.1007/b11711⟩ |
Artifical Intelligence and Pattern Recognition, Vision, LearningSpringer. A Guided Tour of Artificial Intelligence Research (P. Marquis, O. Papini, H. Prade, Eds), III, Springer, pp.337-364, 2020 |
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7 : Intelligence artificielle et reconnaissance des formes, vision, apprentissagePanorama de l’intelligence artificielle - Ses bases méthodologiques ses développements - Volume 3 (P. Marquis, O. Papini, H. Prade, eds.), Cépaduès, pp.1165-1195, 2014 |
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Intelligence artificielle et reconnaissance des formes, vision, apprentissage pour la robotiqueL'Intelligence Artificielle : Frontières et Applications, Volume 3, série : Panorama de l'Intelligence Artificielle, Editions CEPADUES, 30 pp, 2014, 9782364930438 |
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Learning Forward Models for the Operational Space Control of Redundant RobotsOlivier Sigaud and Jan Peters. From Motor Learning to Interaction Learning in Robots, Springer, pp.169--192, 2010, Studies in Computational Intelligence, volume 264, ⟨10.1007/978-3-642-05181-4_8⟩ |
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A Two-Level Model of Anticipation-Based Motor Learning for Whole Body MotionGiovanni Pezzulo, Martin V. Butz, Olivier Sigaud and Gianluca Baldassarre. Anticipatory Behavior in Adaptive Learning Systems: From Psychological Theories to Artificial Cognitive System, Springer, pp.229--246, 2009, Lecture Notes in Computer Science Volume 5499, ⟨10.1007/978-3-642-02565-5_13⟩ |
Anticipations, Brains, Individual and Social Behavior: An Introduction to Anticipatory SystemsAnticipatory Behavior in Adaptive Learning Systems: From Brains to Individual and Social Behavior, 4520, Springer-Verlag, pp.1-18, 2007, Lecture Notes in Computer Science, 978-3-540-74261-6. ⟨10.1007/978-3-540-74262-3_1⟩ |
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Anticipatory Behavior: Exploiting Knowledge about the Future to Improve Current BehaviorAnticipatory Behavior in Adaptive Learning Systems, 2684, Springer, pp.1-10, 2003, Lecture Notes in Computer Science, ⟨10.1007/978-3-540-45002-3_1⟩ |
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Internal Models and Anticipations in Adaptive Learning SystemsAnticipatory Behavior in Adaptive Learning Systems, 2684, Springer, pp.86-109, 2003, Lecture Notes in Computer Science, ⟨10.1007/978-3-540-45002-3_6⟩ |
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Vers une approche dynamique de la sélection de l'actionApproche dynamique de la cognition artificielle, Hermès, pp.163-178, 2002 |
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Being Reactive by Exchanging Roles: an Empirical StudyBalancing reactivity and Social Deliberation in Multiagent Systems, 2103, Springer-Verlag, pp.150-172, 2000, Lecture Notes in Computer Science, ⟨10.1007/3-540-44568-4_10⟩ |
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Contribution au problème de la sélection de l'action en environnement partiellement observableIntelligence Artificielle Située, Hermès, pp.129-146, 1999 |