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
Conference papers
hal-03135362v1
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PBCS: Efficient Exploration and Exploitation Using a Synergy Between Reinforcement Learning and Motion Planning
Guillaume Matheron
,
Nicolas Perrin
,
Olivier Sigaud
Conference papers
hal-03080918v1
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Visibly Tree Automata with Memory and Constraints
Hubert Comon-Lundh
,
Florent Jacquemard
,
Nicolas Perrin
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
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.
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
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
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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
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Exploratory State Representation Learning
Astrid Merckling
,
Nicolas Perrin-Gilbert
,
Alex Coninx
,
Stéphane Doncieux
Journal articles
hal-03864236v1
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Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms
Alexandre Chenu
,
Nicolas Perrin-Gilbert
,
Stéphane Doncieux
,
Olivier Sigaud
Conference papers
hal-03404366v1
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First-Order and Second-Order Variants of the Gradient Descent in a Unified Framework
Thomas Pierrot
,
Nicolas Perrin-Gilbert
,
Olivier Sigaud
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.
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
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
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
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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
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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
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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
Conference papers
hal-03089494v1
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