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43

Nicolas PERRIN-GILBERT

I am a Permanent CNRS researcher at ISIR, a laboratory of Sorbonne University in Paris, France.

 

My main research goal is to develop and analyze learning and planning algorithms for complex dynamical systems.

 

As far as applications are concerned, I often focus on the motion control of virtual or physical humanoid robots, which are very challenging systems due to their nonlinear dynamics, underactuation, high dimensionality and redundancy.

 

Links: ISIR / DBLP / Google Scholar / Videos

Journal articles9 documents

  • Stéphane Doncieux, David Filliat, Natalia Díaz-Rodríguez, Timothy Hospedales, Richard Duro, et al.. Open-Ended Learning: A Conceptual Framework Based on Representational Redescription. Frontiers in Neurorobotics, Frontiers, 2018, 12, pp.59. ⟨10.3389/fnbot.2018.00059⟩. ⟨hal-01889947⟩
  • Patricia Bouyer, Nicolas Markey, Nicolas Perrin, Philipp Schlehuber-Caissier. Timed-automata abstraction of switched dynamical systems using control invariants. Real-Time Systems, Springer Verlag, 2017, pp.1-27. ⟨10.1007/s11241-016-9262-3⟩. ⟨hal-01436413⟩
  • Nicolas Perrin, Philipp Schlehuber-Caissier. Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems. Systems and Control Letters, Elsevier, 2016, 96, pp.51 - 59. ⟨10.1016/j.sysconle.2016.06.018⟩. ⟨hal-01394886⟩
  • Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. Continuous Legged Locomotion Planning. IEEE Transactions on Robotics, IEEE, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩. ⟨hal-01433866⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Humanoid motion generation and swept volumes: theoretical bounds for safe steps. Advanced Robotics, Taylor & Francis, 2013, 27 (14), pp.1045 - 1058. ⟨10.1080/01691864.2013.805468⟩. ⟨hal-01113510⟩
  • Nicolas Perrin, Olivier Stasse, Léo Baudouin, Florent Lamiraux, Eiichi Yoshida. Fast humanoid robot collision-free footstep planning using swept volume approximations. IEEE Transactions on Robotics, IEEE, 2012, 28 (2), pp.0-0. ⟨hal-00662545⟩
  • Nicolas Perrin, Olivier Stasse, Léo Baudouin, Florent Lamiraux, Eiichi Yoshida. Fast humanoid robot collision-free footstep planning using swept volume approximations. IEEE Transactions on Robotics, IEEE, 2012, 28 (2), p.427-439. ⟨hal-00662550⟩
  • Nicolas Perrin, Jacques Theureau, Jacques Menu, Marc Durand. SIDE-CAR : Un outil numérique d’aide à l’analyse de l’activité par rétrodiction. Exploitation selon le cadre théorique du "cours d’action". Recherches Qualitatives, ARQ Association pour la Recherche Qualitative, 2011, 30 (2), pp.148-174. ⟨hal-01106696⟩
  • Hubert Comon-Lundh, Florent Jacquemard, Nicolas Perrin. Visibly Tree Automata with Memory and Constraints. Logical Methods in Computer Science, Logical Methods in Computer Science Association, 2008, 4 (2), ⟨10.2168/LMCS-4(2:8)2008⟩. ⟨inria-00578844⟩

Conference papers22 documents

  • Alexandre Chenu, Nicolas Perrin-Gilbert, Stéphane Doncieux, Olivier Sigaud. Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms. 30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.568-579, ⟨10.1007/978-3-030-86380-7_46⟩. ⟨hal-03404366⟩
  • Thomas Pierrot, Nicolas Perrin-Gilbert, Olivier Sigaud. First-Order and Second-Order Variants of the Gradient Descent in a Unified Framework. 30th International Conference on Artificial Neural Networks - ICANN 2021, Sep 2021, Bratislava, Slovakia. pp.197-208, ⟨10.1007/978-3-030-86340-1_16⟩. ⟨hal-03404369⟩
  • Astrid Merckling, Alexandre Coninx, Loic Cressot, Stephane Doncieux, Nicolas Perrin. State Representation Learning from Demonstration. 6th International Conference on Machine Learning, Optimization, and Data Science, LOD 2020, Jul 2020, Siena, Italy. ⟨hal-03083156⟩
  • Guillaume Matheron, Nicolas Perrin, Olivier Sigaud. PBCS: Efficient Exploration and Exploitation Using a Synergy Between Reinforcement Learning and Motion Planning. Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.295-307, ⟨10.1007/978-3-030-61616-8_24⟩. ⟨hal-03080918⟩
  • Guillaume Matheron, Nicolas Perrin, Olivier Sigaud. Understanding Failures of Deterministic Actor-Critic with Continuous Action Spaces and Sparse Rewards. Artificial Neural Networks and Machine Learning – ICANN 2020, Sep 2020, Bratislava, Slovakia. pp.308-320, ⟨10.1007/978-3-030-61616-8_25⟩. ⟨hal-03080925⟩
  • Thomas Pierrot, Guillaume Ligner, Scott Reed, Olivier Sigaud, Nicolas Perrin, et al.. Learning Compositional Neural Programs with Recursive Tree Search and Planning. Advances in Neural Information Processing Systems 32 (NeurIPS 2019), Dec 2019, Vancouver, Canada. ⟨hal-03080949⟩
  • Philipp Schlehuber-Caissier, Nicolas Perrin. Computing regions of stabilizability for nonlinear control systems with input constraints. American Control Conference (ACC'18), 2018, Milwaukee, United States. pp.2869-2876, ⟨10.23919/ACC.2018.8430798⟩. ⟨hal-03135362⟩
  • Nicolas Perrin, Darwin Lau, Vincent Padois. Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts. International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy. ⟨hal-01388632⟩
  • Emmanouil Spyrakos-Papastavridis, Nicolas Perrin, Nikos Tsagarakis, Jian S. Dai, Darwin G. Caldwell. Lyapunov Stability Margins for humanoid robot balancing. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. ⟨10.1109/IROS.2014.6942673⟩. ⟨hal-01394903⟩
  • Luca Colasanto, Nicolas Perrin, Nikos Tsagarakis, Darwin Caldwell. Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking. 2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, China. pp.210 - 215, ⟨10.1109/ICRA.2014.6906611⟩. ⟨hal-01394896⟩
  • Nicolas Perrin, Nikolaos Tsagarakis, Darwin Caldwell. Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov 2013, Tokyo, Japan. pp.4145-4151, ⟨10.1109/IROS.2013.6696950⟩. ⟨hal-03089490⟩
  • Enrico Mingo Hoffman, Nicolas Perrin, Nikos Tsagarakis, Darwin Caldwell. Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance. 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), Oct 2013, Atlanta, United States. pp.397-402, ⟨10.1109/HUMANOIDS.2013.7030005⟩. ⟨hal-03089494⟩
  • Andrei Herdt, Nicolas Perrin, Pierre-Brice Wieber. LMPC based online generation of more efficient walking motions. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩. ⟨hal-02487630⟩
  • Nicolas Perrin. From Discrete to Continuous Motion Planning. Tenth Workshop on the Algorithmic Foundations of Robotics, Jun 2012, Cambridge, Massachusetts, United States. pp.89-104, ⟨10.1007/978-3-642-36279-8_6⟩. ⟨hal-03089485⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Youn Kim, Dinesh Manocha. Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box. IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0. ⟨hal-00668794⟩
  • Léo Baudouin, Nicolas Perrin, Thomas Moulard, Florent Lamiraux, Olivier Stasse, et al.. Real-time Replanning Using 3D Environment for Humanoid Robot. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589. ⟨hal-00601300⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Weakly collision-free paths for continuous humanoid footstep planning. 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⟩. ⟨hal-00639026⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction. IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨hal-00593659⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Approximation of Feasibility Tests for Reactive Walk on HRP-2. IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6. ⟨hal-00455454⟩
  • Andrei Herdt, Nicolas Perrin, Pierre-Brice Wieber. Walking without thinking about it. IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.190-195, ⟨10.1109/IROS.2010.5654429⟩. ⟨inria-00567668⟩
  • Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar. Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩. ⟨hal-00507141⟩
  • Hubert Comon-Lundh, Florent Jacquemard, Nicolas Perrin. Tree Automata with Memory, Visibility and Structural Constraints. 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⟩. ⟨inria-00579009⟩

Book sections2 documents

  • Nicolas Perrin. Biped Footstep Planning. Humanoid Robotics: A Reference, Springer Netherlands, pp.1-21, 2017, ⟨10.1007/978-94-007-7194-9_29-1⟩. ⟨hal-03089498⟩
  • Patricia Bouyer, Nicolas Markey, Nicolas Perrin, Philipp Schlehuber-Caissier. Timed-Automata Abstraction of Switched Dynamical Systems Using Control Funnels. Formal Modeling and Analysis of Timed Systems, 9268, Springer International Publishing, pp.60 - 75, 2015, Lecture Notes in Computer Science, 978-3-319-22974-4. ⟨10.1007/978-3-319-22975-1_5⟩. ⟨hal-01395104⟩

Preprints, Working Papers, ...8 documents

  • Alexandre Chenu, Nicolas Perrin-Gilbert, Stephane Doncieux, Olivier Sigaud. Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms. 2021. ⟨hal-03196479⟩
  • Geoffrey Cideron, Thomas Pierrot, Nicolas Perrin, Karim Beguir, Olivier Sigaud. QD-RL: Efficient Mixing of Quality and Diversity in Reinforcement Learning. 2020. ⟨hal-03083159⟩
  • Thomas Pierrot, Nicolas Perrin, Feryal Behbahani, Alexandre Laterre, Olivier Sigaud, et al.. Learning Compositional Neural Programs for Continuous Control. 2020. ⟨hal-03083161⟩
  • Andrea Fanelli, Laurent Gruson, Nicolas Perrin. Rational curves on $V_5$ and rational simple connectedness. 2020. ⟨hal-02489755⟩
  • Thomas Pierrot, Nicolas Perrin, Olivier Sigaud. First-order and second-order variants of the gradient descent in a unified framework. 2019. ⟨hal-02397757⟩
  • Aloïs Pourchot, Nicolas Perrin, Olivier Sigaud. Importance mixing: Improving sample reuse in evolutionary policy search methods. 2019. ⟨hal-02397754⟩
  • Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. A Continuous Approach to Legged Locomotion Planning. 2013. ⟨hal-00805981⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Adaptive sampling-based approximation of the sign of multivariate real-valued functions. 2010. ⟨hal-00544891⟩

Reports1 document

  • Zexiang Liu, Necmiye Ozay, Nicolas Perrin. Warm-Starting Fixed-Point Based Control Synthesis. [Research Report] University of Michigan-Ann Arbor; Cnrs; Sorbonne Université. 2018. ⟨hal-02397867⟩

Theses1 document

  • Nicolas Perrin. Footstep planning for humanoid robots: discrete and continuous approaches. Robotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨tel-00647469⟩