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authIdHal_s : nicolas-perrin-gilbert

Learning Compositional Neural Programs for Continuous Control

Thomas Pierrot , Nicolas Perrin , Feryal Behbahani , Alexandre Laterre , Olivier Sigaud , et al.
2020
Preprints, Working Papers, ... hal-03083161v1
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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⟩
Conference papers hal-03135362v1

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⟩
Conference papers hal-03080918v1
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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⟩
Journal articles inria-00578844v1
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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⟩
Conference papers hal-00507141v1
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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
Conference papers hal-00455454v1
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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⟩
Conference papers hal-03089490v1
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A Continuous Approach to Legged Locomotion Planning

Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux , et al.
2013
Preprints, Working Papers, ... hal-00805981v1
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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⟩
Journal articles hal-01889947v1
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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
Conference papers hal-01388632v1
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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⟩
Conference papers hal-02487630v1
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Footstep planning for humanoid robots: discrete and continuous approaches

Nicolas Perrin
Robotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨NNT : ⟩
Theses tel-00647469v1

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⟩
Conference papers hal-03864262v1

Exploratory State Representation Learning

Astrid Merckling , Nicolas Perrin-Gilbert , Alex Coninx , Stéphane Doncieux
Frontiers in Robotics and AI, 2022, 9, ⟨10.3389/frobt.2022.762051⟩
Journal articles hal-03864236v1

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⟩
Conference papers 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⟩
Conference papers hal-03404369v1
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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
Preprints, Working Papers, ... hal-03196479v1
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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⟩
Conference papers hal-00639026v1
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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⟩
Journal articles hal-01433866v1
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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
Conference papers hal-00601300v1
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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
Preprints, Working Papers, ... hal-00544891v1
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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⟩
Conference papers inria-00579009v1
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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⟩
Journal articles hal-01436413v1
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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
Conference papers hal-00593659v1
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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⟩
Journal articles 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
Journal articles hal-00662550v1

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
Conference papers hal-03083156v1

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
Conference papers hal-03080949v1

Importance mixing: Improving sample reuse in evolutionary policy search methods

Aloïs Pourchot , Nicolas Perrin , Olivier Sigaud
2019
Preprints, Working Papers, ... hal-02397754v1
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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⟩
Conference papers hal-03089494v1