Stephane Doncieux
- Institut des Systèmes Intelligents et de Robotique (ISIR)
Présentation
Stéphane Doncieux est professeur d'informatique à l'ISIR (Institut des systèmes intelligents et de la robotique), Sorbonne Université, CNRS. Depuis janvier 2024, il est directeur de l'ISIR qui est un laboratoire de robotique multidisciplinaire qui regroupe des chercheurs en mécatronique, en informatique, en traitement du signal et en neurosciences. Il a été coordinateur du projet DREAM FET H2020 de 2015 à 2018. Ses recherches portent sur la robotique cognitive et en particulier sur l'apprentissage et l'adaptation avec une approche développementale. Il enseigne en licence et en master d'informatique ainsi que dans le master des sciences de l'ingénieur de Sorbonne Université.
Publications
Publications
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A Definition of Open-Ended Learning Problems for Goal-Conditioned Agents2024 |
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Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms2021 |
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DREAM Architecture: a Developmental Approach to Open-Ended Learning in Robotics2020 |
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Extract-QD Framework: A Generic Approach for Quality-Diversity in Noisy, Stochastic or Uncertain DomainsGECCO '25: Genetic and Evolutionary Computation Conference, Jul 2025, NH Malaga Hotel Malaga Spain, France. pp.140-148, ⟨10.1145/3712256.3726404⟩ |
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Learning to explore when mistakes are not allowedAAMAS '25: the 24th International Conference on Autonomous Agents and Multiagent Systems, May 2025, Detroit (MI), France. pp.2708 - 2710 |
Qdgset: a Large Scale Grasping Dataset Generated With Quality-Diversity2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, France. pp.01-08, ⟨10.1109/ICRA55743.2025.11127427⟩ |
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Toward a Plug-and-Play Vision-Based Grasping Module for Robotics2nd Workshop on Mobile Manipulation and Embodied Intelligence at ICRA 2024, May 2024, Yokohama, Japan |
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Domain Randomization for Sim2real Transfer of Automatically Generated Grasping Datasets2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.4112-4118, ⟨10.1109/ICRA57147.2024.10610677⟩ |
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Speeding up 6-DoF Grasp Sampling with Quality-DiversityIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024, Abu dahbi, United Arab Emirates |
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Diversity Search for the Generation of Diverse Grasping TrajectoriesGECCO '23 Companion, Jul 2023, Lisbon (Portugal), Portugal. pp.151-154, ⟨10.1145/3583133.3590718⟩ |
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Geodesics, Non-linearities and the Archive of Novelty SearchGECCO '22: Genetic and Evolutionary Computation Conference, Jul 2022, Boston Massachusetts, United States. pp.156-159, ⟨10.1145/3520304.3528944⟩ |
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Automatic Acquisition of a Repertoire of Diverse Grasping Trajectories through Behavior Shaping and Novelty SearchIEEE International Conference on Robotics and Automation 2022, IEEE, May 2022, Philadelphia, United States |
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Sparse Reward Exploration via Novelty Search and EmittersThe Genetic and Evolutionary Computation Conference 2021 (GECCO 2021), Jul 2021, Lille, France. ⟨10.1145/3449639.3459314⟩ |
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BR-NS: an Archive-less Approach to Novelty SearchThe Genetic and Evolutionary Computation Conference, Jul 2021, Lille, France. pp.172-179, ⟨10.1145/3449639.3459303⟩ |
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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⟩ |
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Unsupervised Learning and Exploration of Reachable Outcome SpaceIEEE International Conference on Robotics and Automation (ICRA 2020), 2020, Paris, France. ⟨10.1109/icra40945.2020.9196819⟩ |
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State Representation Learning from Demonstration6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy |
On pros and cons of evolving topologies with novelty searchArtificial Life Conference Proceedings, 2020, Montréal, Canada. pp.423-431 |
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Novelty Search makes Evolvability InevitableGECCO '20, Jul 2020, Cancun, Mexico. ⟨10.1145/3377930.3389840⟩ |
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Novelty search: a Theoretical PerspectiveGECCO '19: Genetic and Evolutionary Computation Conference, Jul 2019, Prague Czech Republic, France. pp.99-106, ⟨10.1145/3321707.3321752⟩ |
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Iterative affordance learning with adaptive action generationInternational Conference on Development and Learning (ICDL) and the International Conference on Epigenetic Robotics (EpiRob), Sep 2017, Lisbon, Portugal |
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Segmenting Objects through an Autonomous Agnostic Exploration Conducted by a Robot2017 First IEEE International Conference on Robotic Computing (IRC), Apr 2017, Taichung, Taiwan. ⟨10.1109/IRC.2017.22⟩ |
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Learning highly diverse robot throwing movements through quality diversity search2nd Evolution in Cognition Workshop, Proceedings of the Genetic and Evolutionary Computation Conference Companion, 2017, Berlin, Germany. pp.1177-1178 |
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Bootstraping manipulation skills to learn affordances in open-ended environmentsWorkshop Autonomous Perception: Applying Sensorimotor Contingencies and Predictive Processing to Developmental Robotics (ICDL-Epirob), 2016, Cergy-Pontoise, France. pp.1-2 |
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Learning a high diversity of object manipulations though an evolutionary-based babblingProceedings of the workshop Learning Object Affordances, IROS 2015, 2015, Hambourg, Unknown Region. pp.1-2 |
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Visual saliency-based babbling of unknown dynamic environmentsProceedings of the workshop Learning Object Affordances, IROS 2015, 2015, Hambourg, Unknown Region. pp.1-2 |
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Bootstrapping interactions with objects from raw sensorimotor data: a Novelty Search based approachIEEE International Conference on Development and Learning and on Epigenetic Robotics, Aug 2015, Providence, United States. pp.7-12, ⟨10.1109/DEVLRN.2015.7346098⟩ |
Overview of strategies for reducing co2 emissions during the use phase of passenger carsTransport Research Arena 2014 proceedings, 2014, Paris, France. pp.1-10 |
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Overview of Solutions for Reducing CO2 Emissions during the Use Phase of Passenger CarsTRA2014 Transport Research Arena 2014 : Transport Solutions: from Research to Deployment - Innovate Mobility, Mobilise Innovation !, Apr 2014, Paris La Défense, France. pp.1-10 |
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Knowledge extraction from learning traces in continuous domainsAAAI 2014 fall Symposium ''Knowledge, Skill, and Behavior Transfer in Autonomous Robots''., 2014, Arlington, United States. pp.1-8 |
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Behavioral Diversity with Multiple Behavioral DistancesIEEE Congress on Evolutionary Computation, 2013 (CEC 2013), 2013, Cancun, Mexico. pp.1-8 |
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Transfer learning for direct policy search: a reward shaping approachProceedings of ICDL-EpiRob conference, 2013, Osaka, Japan. pp.1-6 |
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Optimization of Humanoid Walking Controller: Crossing the Reality GapIEEE RAS International Conference on Humanoid Robots (Humanoids 2013), Oct 2013, Atlanta, GA, United States. pp.106-111, ⟨10.1109/HUMANOIDS.2013.7029963⟩ |
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Towards behavioral consistency in neuroevolutionFrom Animals to Animats: Proceedings of the 12th International Conference on Adaptive Behaviour (SAB 2012), Springer, publisher, 2012, Odense, Denmark. pp.1-10 |
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With a little help from selection pressures: evolution of memory in robot controllersThirteenth International Conference on the Synthesis and Simulation of Living Systems (ALIFE 2012), Jul 2012, East Lansing, MI, United States. pp.407-414, ⟨10.7551/978-0-262-31050-5-ch054?mobileUi=0&⟩ |
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How to Promote Generalisation in Evolutionary Robotics: the ProGAb ApproachConference on Genetic and Evolutionary Computation, Jul 2010, Ireland. pp.259-266, ⟨10.1145/2001576.2001612⟩ |
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Why and how to measure exploration in behavioral spaceGECCO'11: Proceedings of the 13th annual conference on Genetic and evolutionary computation ACM, publisher, 2011, Dublin, Ireland. pp.267-294 |
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Behavioral diversity measures for Evolutionary RoboticsCEC 2010, 2010, Spain. pp.1303-1310, ⟨10.1109/CEC.2010.5586100WCCI⟩ |
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SFERESv2: evolvin' in the multi-core worldWCCI 2010 IEEE World Congress on Computational Intelligence, Congress on Evolutionary Computation (CEC), 2010, Barcelona, Spain. pp.4079-4086 |
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Automatic synthesis of working memory neural networks with neuroevolution methodsCinquième conférence plénière française de Neurosciences Computationnelles, "Neurocomp'10", Aug 2010, Lyon, France |
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Importing the Computational Neuroscience Toolbox into Neuro-Evolution---Application to Basal GangliaGECCO'10, 2010, Portland, United States. pp.587-594, ⟨10.1145/1830483.1830592⟩ |
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Crossing the Reality Gap in Evolutionary Robotics by Promoting Transferable ControllersConference on Genetic and Evolutionary Computation, Jul 2010, United States. pp.119-126 |
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Sferes_v2: Evolvin' in the Multi-Core WorldCEC 2010, Jul 2010, Barcelone, Spain. pp.1-8, ⟨10.1109/CEC.2010.5586158⟩ |
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Automatic system identification based on coevolution of models and testsEleventh Congress on Evolutionary Computation (CEC'09), 2009, Trondheim, Norway. pp.560--567 |
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Using Behavioral Exploration Objectives to Solve Deceptive Problems in Neuro-evolutionThe 11th Annual conference on Genetic and evolutionary computation (GECCO'09), 2009, Montréal, Canada. pp.627--634, ⟨10.1145/1569901.1569988⟩ |
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Evolutionary algorithms as exploration and analysis helper tools, application to a flapping wings aircraft''Exploring New Horizons in Evolutionary Design of Robots'' IROS Workshop, 2009, Saint Louis, USA, Unknown Region. pp.19-25 |
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Overcoming the bootstrap problem in evolutionary robotics using behavioral diversityEleventh conference on Congress on Evolutionary Computation (CEC'09), 2009, Trondheim, Norway. pp.1161--1168 |
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Single step evolution of robot controllers for sequential tasksGECCO'09: Proceedings of the 11th annual conference on Genetic and evolutionary computation, 2009, Montréal, Canada. pp.1771-1772 |
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Visual topological SLAM and global localizationInternational Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan. pp.4300 - 4305, ⟨10.1109/ROBOT.2009.5152501⟩ |
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Exploring New Horizons in Evolutionary Design of RobotsWorkshop on Exploring new horizons in Evolutionary Design of Robots at IROS 2009, 2009, Saint Louis, United States. pp.5-12 |
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Evolving modular neural-networks through exaptationEleventh conference on Congress on Evolutionary Computation (CEC'09), 2009, Trondheim, Norway. pp.1570--1577 |
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Influence of Promoter Length on Network Convergence in GRN-based Evolutionary Algorithms10th European Conference on Artificial Life, 2009, Budapest, Hungary. pp.302-309 |
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Real-Time Visual Loop-Closure DetectionInternational Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.1842 - 1847, ⟨10.1109/ROBOT.2008.4543475⟩ |
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Incremental Evolution of Animats' Behaviors as a Multi-objective OptimizationFrom Animals to Animats 10, 2008, Osaka, Japan. pp.210-219, ⟨10.1007/978-3-540-69134-1_21⟩ |
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Flapping-Wing Mechanism for a bird-Sized UAVS: Design, Modeling and Control11th Int. Symposium on ADVANCES IN ROBOT KINEMATICS, 2008, Batz-sur-Mer, France. pp.127-136 |
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Incremental vision-based topological SLAMIEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008, Sep 2008, Nice, France. pp.1031 - 1036, ⟨10.1109/IROS.2008.4650675⟩ |
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Soaring behaviors in uavs : 'animat' design methodology and current results7th European Micro Air Vehicle Conference (MAV07), 2007, Toulouse, Unknown Region. pp.1-10 |
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Flapping-wing flight in bird-sized uavs for the robur project: from an evolutionary optimization to a real flapping-wing mechanism7th European Micro Air Vehicle Conference (MAV07), 2007, Toulouse, Unknown Region. pp.1-9 |
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Nonlinear attitude and position control of a micro quadrotor using sliding mode and backstepping techniques7th European Micro Air Vehicle Conference (MAV07), 2007, Toulouse, Unknown Region. pp.1-9 |
Building an artificial bird: Goals and accomplishments of the ROBUR projectEuropean Micro Aerial Vehicles Conference (EMAV), Jul 2006, Braunschweig, Germany |
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2D Simultaneous Localization And Mapping for Micro Air VehiclesEuropean Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany |
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Incremental Evolution of Target-Following Neuro-controllers for Flapping-Wing AnimatsSAB 2006 - 9th International Conference on the Simulation of Adaptive Behavior, Sep 2006, Rome, Italy. pp.606--618, ⟨10.1007/11840541_50⟩ |
Evolving modular neural networks to solve challenging control problemsEIS 2004 - Fourth international ICSC symposium on Engineering of intelligent systems, Feb 2004, Madeira, Portugal |
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The ROBUR project: towards an autonomous flapping-wing animatJournées MicroDrones, Sep 2004, Toulouse, France |
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EcoSFERES: A tool for the design of self-organized agent-based applicationsGECCO 2004 - Genetic and Evolutionary Computation Conference, Jun 2004, Seattle, WA, United States |
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A biomimetic reactive navigation system using the optical flow for a rotary-wing UAV in urban environmentISR 2004 - 35th International Symposium on Robotics, Mar 2004, Paris, France |
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Evolution of neuro-controllers for flapping-wing animatsJournées Microdrones, Sep 2004, Toulouse, France |
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Evolution of neurocontrollers for complex systems: alternatives to the incremental approachAIA 2004 - International Conference on Artificial Intelligence and Applications, Feb 2004, Innsbruck, Austria |
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Système d'évitement d'obstacles biomimétique basé sur le flux optique. Application à un drone à voilure fixe en environnement urbain simulé.3èmes Journées MicroDrones, Oct 2003, Toulouse, France |
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L'approche animat et la robotique évolutionnisteJNRR'03 - Quatrièmes Journées Nationales de Recherche en Robotique, 2003, Murol, France |
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Evolving Neural Networks for the Control of a Lenticular BlimpApplications of Evolutionary Computing - EvoWorkshops 2003: EvoBIO, EvoCOP, EvoIASP, EvoMUSART, EvoROB, EvoSTIM, Apr 2003, Essex, United Kingdom. pp.626-637, ⟨10.1007/3-540-36605-9_57⟩ |
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Algorithmes évolutionnistes: de l'optimisation de paramètres à la conception complète d'un système de contrôle2èmes Journées MicroDrones, Sep 2002, Toulouse, France |
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New Horizons in Evolutionary Robotics: Extended Contributions from the 2009 EvoDeRob WorkshopSpringer, 341, 2011, Studies in Computational Intelligence, 978-3-642-18271-6. ⟨10.1007/978-3-642-18272-3⟩ |
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From Animals to Animats 11Springer, 6226, 2010, LNAI, 978-3-642-15192-7. ⟨10.1007/978-3-642-15193-4⟩ |
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AN ADAPTIVE APPROACH TO HUMANOID LOCOMOTIONAdvances in Cooperative Robotics -- Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific Publishing, pp.437-444, 2016, 978-981-3149-12-0. ⟨10.1142/9789813149137_0052⟩ |
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Evolutionary Robotics: Exploring New HorizonsSpringer Series: Studies in Computational Intelligence. New Horizons in Evolutionary Robotics, Springer, pp.3-25, 2011 |
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Evolutionary Approaches to Neural Control of Rolling, Walking, Swimming and Flying Animats or RobotsDuro, R.J.; Santos, J.; Grana, M. Biologically Inspired Robot Behavior Engineering, Springer-Verlag, pp.1--43, 2002, ⟨10.1007/978-3-7908-1775-1_1⟩ |
Evolution d'architectures de contrôle pour robots volantsIntelligence Artificielle Située, Hermès, pp.109-127, 1999 |
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Crossing the Reality Gap: a Short Introduction to the Transferability Approach2012 |
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SFERES Un framework pour la conception de systèmes multi-agents adaptatifs[Rapport de recherche] lip6.2001.011, LIP6. 2001 |
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Robotique évolutionniste: conception orientée vers le comportementAutomatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2010 |