Home » Teams » ASIMOV » Stéphane Doncieux
  • Stéphane Doncieux

  • Professor
  • Team: ASIMOV
  • Office: 65-66 306
  • Email: stephane -dot- doncieux -at- sorbonne-universite -dot- fr
  • Phone:+33(0)1 44 27 87 45
  • Addresse: ISIR, Campus Pierre et Marie Curie, 4 place Jussieu, BC173, 75005 Paris
  • Website: https://pages2.isir.upmc.fr/sdoncieux/
  • Bio: Stephane Doncieux is a professor of computer science at ISIR (Institute of Intelligent Systems and Robotics), Sorbonne University, CNRS. Since January 2019, he is deputy director of ISIR. Until then, he was in charge of the multidisciplinary research team AMAC (Architectures and Models of Adaptation and Cognition). He was coordinator of the DREAM FET H2020 project from 2015 to 2018 (https://dream.isir.upmc.fr/). His research focuses on cognitive robotics and in particular on learning and adaptation with a developmental approach.

Publications

  • François Hélénon, Johann Huber, Faïz Benamar, Stephane Doncieux. Toward a Plug-and-Play Vision-Based Grasping Module for Robotics. 2nd Workshop on Mobile Manipulation and Embodied Intelligence at ICRA 2024, May 2024, Yokohama, Japan. ⟨hal-04719524⟩
  • Johann Huber, François Hélénon, Hippolyte Watrelot, Faïz Ben Amar, Stéphane Doncieux. Domain Randomization for Sim2real Transfer of Automatically Generated Grasping Datasets. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.4112-4118, ⟨10.1109/ICRA57147.2024.10610677⟩. ⟨hal-04719478⟩
  • Johann Huber, François Hélénon, Mathilde Kappel, Elie Chelly, Mahdi Khoramshahi, et al.. Speeding up 6-DoF Grasp Sampling with Quality-Diversity. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024, Abu dahbi, United Arab Emirates. ⟨hal-04719505⟩
  • Johann Huber, François Hélénon, Miranda Coninx, Faïz Benamar, Stephane Doncieux. Quality Diversity under Sparse Interaction and Sparse Reward: Application to Grasping in Robotics. 2024. ⟨hal-04719545⟩
  • Achkan Salehi, Steffen Rühl, Stephane Doncieux. Adaptive Asynchronous Control Using Meta-Learned Neural Ordinary Differential Equations. IEEE Transactions on Robotics, 2023, 40, pp.403-420. ⟨10.1109/TRO.2023.3326350⟩. ⟨hal-04723191⟩
  • Johann Huber, Oumar Sane, Miranda Coninx, Faïz Ben Amar, Stéphane Doncieux. Diversity Search for the Generation of Diverse Grasping Trajectories. GECCO '23 Companion, Jul 2023, Lisbon (Portugal), Portugal. pp.151-154, ⟨10.1145/3583133.3590718⟩. ⟨hal-04719449⟩
  • Olivier Sigaud, Gianluca Baldassarre, Cédric Colas, Stephane Doncieux, Richard Duro, et al.. A Definition of Open-Ended Learning Problems for Goal-Conditioned Agents. 2024. ⟨hal-04810195⟩
  • Giuseppe Paolo, Miranda Coninx, Alban Laflaquière, Stéphane Doncieux. Discovering and Exploiting Sparse Rewards in a Learned Behavior Space. Evolutionary Computation, In press, pp.1-28. ⟨hal-04239313⟩
  • Stephane Doncieux, Raja Chatila, Sirko Straube, Frank Kirchner. Human-centered AI and robotics. AI Perspectives, 2022, 4 (1), pp.14. ⟨10.1186/s42467-021-00014-x⟩. ⟨hal-03992545⟩
  • Aurélien Morel, Yakumo Kunimoto, Alex Coninx, Stéphane Doncieux. Automatic Acquisition of a Repertoire of Diverse Grasping Trajectories through Behavior Shaping and Novelty Search. IEEE International Conference on Robotics and Automation 2022, IEEE, May 2022, Philadelphia, United States. ⟨hal-03625864⟩
  • Achkan Salehi, Alexandre Coninx, Stephane Doncieux. Few-shot Quality-Diversity Optimization. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.4424 - 4431. ⟨10.1109/LRA.2022.3148438⟩. ⟨hal-03569179⟩
  • Marija Jegorova, Stephane Doncieux, Timothy Hospedales. Behavioral Repertoire via Generative Adversarial Policy Networks. IEEE Transactions on Cognitive and Developmental Systems, 2022, 14 (4), pp.1344-1355. ⟨10.1109/TCDS.2020.3008574⟩. ⟨hal-03992639⟩
  • Freek Stulp, Michael Spranger, Kim Listmann, Stephane Doncieux, Moritz Tenorth, et al.. Innovation Paths for Machine Learning in Robotics [Industry Activities]. IEEE Robotics and Automation Magazine, 2022, 29 (4), pp.141-144. ⟨10.1109/MRA.2022.3213205⟩. ⟨hal-03992530⟩
  • Astrid Merckling, Nicolas Perrin-Gilbert, Alex Coninx, Stéphane Doncieux. Exploratory State Representation Learning. Frontiers in Robotics and AI, 2022, 9, pp.762051. ⟨10.3389/frobt.2022.762051⟩. ⟨hal-03864236⟩
  • Achkan Salehi, Alexandre Coninx, Stephane Doncieux. Geodesics, Non-linearities and the Archive of Novelty Search. GECCO '22: Genetic and Evolutionary Computation Conference, Jul 2022, Boston Massachusetts, United States. pp.156-159, ⟨10.1145/3520304.3528944⟩. ⟨hal-03661188⟩
  • Léni Le Goff, Oussama Yaakoubi, Alexandre Coninx, Stéphane Doncieux. Building an Affordances Map With Interactive Perception. Frontiers in Neurorobotics, 2022, 16, pp.504459. ⟨10.3389/fnbot.2022.504459⟩. ⟨hal-03992611⟩
  • 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⟩
  • Giuseppe Paolo, Alexandre Coninx, Stéphane Doncieux, Alban Laflaquière. Sparse Reward Exploration via Novelty Search and Emitters. The Genetic and Evolutionary Computation Conference 2021 (GECCO 2021), Jul 2021, Lille, France. ⟨10.1145/3449639.3459314⟩. ⟨hal-03200022⟩
  • Salehi Achkan, Alexandre Coninx, Stephane Doncieux. BR-NS: an Archive-less Approach to Novelty Search. The Genetic and Evolutionary Computation Conference, Jul 2021, Lille, France. pp.172-179, ⟨10.1145/3449639.3459303⟩. ⟨hal-03344296⟩
  • Alexandre Chenu, Nicolas Perrin-Gilbert, Stephane Doncieux, Olivier Sigaud. Selection-Expansion: A Unifying Framework for Motion-Planning and Diversity Search Algorithms. 2021. ⟨hal-03196479⟩
  • Seungsu Kim, Alexandre Coninx, Stephane Doncieux. From exploration to control: Learning object manipulation skills through novelty search and local adaptation. Robotics and Autonomous Systems, 2021, 136, pp.103710. ⟨10.1016/j.robot.2020.103710⟩. ⟨hal-03432702⟩
  • 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⟩
  • Stephane Doncieux, Giuseppe Paolo, Alban Laflaquière, Alexandre Coninx. Novelty Search makes Evolvability Inevitable. GECCO '20, Jul 2020, Cancun, Mexico. ⟨10.1145/3377930.3389840⟩. ⟨hal-02561763⟩
  • Joel Lehman, Jeff Clune, Dusan Misevic, Christoph Adami, Julie Beaulieu, et al.. The Surprising Creativity of Digital Evolution: A Collection of Anecdotes from the Evolutionary Computation and Artificial Life Research Communities. Artificial Life, 2020, 26 (2), pp.274-306. ⟨10.1162/artl_a_00319⟩. ⟨hal-01735473⟩
  • Stephane Doncieux, Nicolas Bredeche, Léni Kenneth Le Goff, Benoît Girard, Alexandre Coninx, et al.. DREAM Architecture: a Developmental Approach to Open-Ended Learning in Robotics. 2020. ⟨hal-02562103⟩
  • Giuseppe Paolo, Alban Laflaquière, Alexandre Coninx, Stephane Doncieux. Unsupervised Learning and Exploration of Reachable Outcome Space. IEEE International Conference on Robotics and Automation (ICRA 2020), 2020, Paris, France. ⟨10.1109/icra40945.2020.9196819⟩. ⟨hal-02951255⟩
  • Léni K. Le Goff, Emma Hart, Alexandre Coninx, Stéphane Doncieux. On pros and cons of evolving topologies with novelty search. Artificial Life Conference Proceedings, 2020, Montréal, Canada. pp.423-431. ⟨hal-02987420⟩
  • Stephane Doncieux. Des robots capables de faire face à des environnements ouverts. Interstices, 2019. ⟨hal-02339132⟩
  • Stephane Doncieux, Alban Laflaquière, Alexandre Coninx. Novelty search: a Theoretical Perspective. GECCO '19: Genetic and Evolutionary Computation Conference, Jul 2019, Prague Czech Republic, France. pp.99-106, ⟨10.1145/3321707.3321752⟩. ⟨hal-02561846⟩
  • Carlos Maestre, Ghanim Mukhtar, Christophe Gonzales, Stéphane Doncieux. Action Generation Adapted to Low-Level and High-Level Robot-Object Interaction States. Frontiers in Neurorobotics, 2019, 13, pp.56. ⟨10.3389/fnbot.2019.00056⟩. ⟨hal-02277550⟩
  • 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, 2018, 12, pp.59. ⟨10.3389/fnbot.2018.00059⟩. ⟨hal-01889947⟩
  • Carlos Maestre, Ghanim Mukhtar, Christophe Gonzales, Stephane Doncieux. Iterative affordance learning with adaptive action generation. International Conference on Development and Learning (ICDL) and the International Conference on Epigenetic Robotics (EpiRob), Sep 2017, Lisbon, Portugal. ⟨hal-01617793⟩
  • Leni Le Goff, Ghanim Mukhtar, Pierre-Henri Le Fur, Stephane Doncieux. Segmenting Objects through an Autonomous Agnostic Exploration Conducted by a Robot. 2017 First IEEE International Conference on Robotic Computing (IRC), Apr 2017, Taichung, Taiwan. ⟨10.1109/IRC.2017.22⟩. ⟨hal-01879084⟩
  • Matthieu Zimmer, Stephane Doncieux. Bootstrapping Q-Learning for Robotics from Neuro-Evolution Results. IEEE Transactions on Cognitive and Developmental Systems, 2017, ⟨10.1109/TCDS.2016.2628817⟩. ⟨hal-01494744⟩
  • Leonid L. Rubchinsky, Sungwoo Ahn, Wouter Klijn, Ben Cumming, Stuart Yates, et al.. 26th Annual Computational Neuroscience Meeting (CNS*2017): Part 2. BMC Neuroscience, 2017, 18 (Suppl 1), pp.59. ⟨10.1186/s12868-017-0371-2⟩. ⟨hal-01580190⟩
  • Camilla Freitas Salgueiredo, Olivier Orfila, Guillaume Saint Pierre, Philippe Doublet, Sébastien Glaser, et al.. Experimental testing and simulations of speed variations impact on fuel consumption of conventional gasoline passenger cars. Transportation Research : Part D, Transport and Environment, 2017, 57, pp.336-349. ⟨10.1016/j.trd.2017.09.029⟩. ⟨hal-01671388⟩
  • Seungsu Kim, Stéphane Doncieux. Learning highly diverse robot throwing movements through quality diversity search. 2nd Evolution in Cognition Workshop, Proceedings of the Genetic and Evolutionary Computation Conference Companion, 2017, Berlin, Germany. pp.1177-1178. ⟨hal-02987421⟩
  • Mehdi Khamassi, Stéphane Doncieux. Nouvelles approches en Robotique Cognitive. Intellectica - La revue de l’Association pour la Recherche sur les sciences de la Cognition (ARCo), 2016, 2016/1 (65), pp.7-25. ⟨10.3406/intel.2016.1788⟩. ⟨hal-01375651⟩
  • Carlos Maestre, Christophe Gonzales, Stéphane Doncieux. Bootstraping manipulation skills to learn affordances in open-ended environments. Workshop Autonomous Perception: Applying Sensorimotor Contingencies and Predictive Processing to Developmental Robotics (ICDL-Epirob), 2016, Cergy-Pontoise, France. pp.1-2. ⟨hal-02987422⟩
  • José Pontes, Stephane Doncieux, Cristina Peixoto Santos, Vincent Padois. AN ADAPTIVE APPROACH TO HUMANOID LOCOMOTION. Advances 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⟩. ⟨hal-01398513⟩
  • Carlos Maestre, Antoine Cully, Christophe Gonzales, Stephane Doncieux. Bootstrapping interactions with objects from raw sensorimotor data: a Novelty Search based approach. IEEE International Conference on Development and Learning and on Epigenetic Robotics, Aug 2015, Providence, United States. pp.7-12, ⟨10.1109/DEVLRN.2015.7346098⟩. ⟨hal-01164789⟩
  • Stephane Doncieux, Nicolas Bredeche, Jean-Baptiste Mouret, Gusz Ae Eiben. Evolutionary robotics: what, why, and where to. Frontiers in Robotics and AI, 2015, pp.10.3389/frobt.2015.00004. ⟨10.3389/frobt.2015.00004⟩. ⟨hal-01131267⟩
  • Pierre Ecarlat, Antoine Cully, Carlos Maestre, Stéphane Doncieux. Learning a high diversity of object manipulations though an evolutionary-based babbling. Proceedings of the workshop Learning Object Affordances, IROS 2015, 2015, Hambourg, Unknown Region. pp.1-2. ⟨hal-02987423⟩
  • Leni Le Goff, Carlos Maestre, Stéphane Doncieux. Visual saliency-based babbling of unknown dynamic environments. Proceedings of the workshop Learning Object Affordances, IROS 2015, 2015, Hambourg, Unknown Region. pp.1-2. ⟨hal-02987424⟩
  • Stephane Doncieux, Jean-Baptiste Mouret. Beyond black-box optimization: a review of selective pressures for evolutionary robotics. Evolutionary Intelligence, 2014, 7 (2), pp.71-93. ⟨10.1007/s12065-014-0110-x⟩. ⟨hal-01150254⟩
  • Camila Freitas Salgueiredo, Olivier Orfila, Guillaume Saint Pierre, Alex Coiret, P.O. Vandanjon, et al.. Overview of Solutions for Reducing CO2 Emissions during the Use Phase of Passenger Cars. TRA2014 Transport Research Arena 2014 : Transport Solutions: from Research to Deployment - Innovate Mobility, Mobilise Innovation !, Apr 2014, Paris La Défense, France. pp.1-10. ⟨hal-02193741⟩
  • Camila Freitas Salgeiredo, Olivier Orfila, Guillaume Saint Pierre, Alex Coiret, Pierre-Olivier Vandanjon, et al.. Overview of strategies for reducing co2 emissions during the use phase of passenger cars. Transport Research Arena 2014 proceedings, 2014, Paris, France. pp.1-10. ⟨hal-02987426⟩
  • Stéphane Doncieux. Knowledge extraction from learning traces in continuous domains. AAAI 2014 fall Symposium ''Knowledge, Skill, and Behavior Transfer in Autonomous Robots''., 2014, Arlington, United States. pp.1-8. ⟨hal-02987425⟩
  • Stéphane Doncieux, Jean-Baptiste Mouret. Behavioral Diversity with Multiple Behavioral Distances. IEEE Congress on Evolutionary Computation, 2013 (CEC 2013), 2013, Cancun, Mexico. pp.1-8. ⟨hal-01300703⟩
  • Stéphane Doncieux. Transfer learning for direct policy search: a reward shaping approach. Proceedings of ICDL-EpiRob conference, 2013, Osaka, Japan. pp.1-6. ⟨hal-02987427⟩