معرفی
Nicolas Perrin-Gilbert is a CNRS Research Fellow at the Institute of Intelligent Systems and Robotics (ISIR), which is part of Sorbonne University in Paris, France. He has been working at ISIR since 2013 as part of the MLIA (Machine Learning and Artificial Intelligence) team, where he conducts research at the intersection of robotics and machine learning. His office is located at ISIR, Campus Pierre et Marie Curie, 4 place Jussieu, BC173, 75005 Paris.
Dr. Perrin-Gilbert's research focuses on developing advanced algorithms for robot locomotion, control, and learning. His work bridges theoretical machine learning with practical robotics applications, particularly in reinforcement learning, motion planning, and humanoid robotics. He has made significant contributions to quality-diversity algorithms, state representation learning, and controller synthesis for dynamic multi-agent systems. His approach often combines insights from control theory with modern machine learning techniques to solve complex robotics challenges.
His publication record shows consistent research output since 2010, with a notable acceleration in recent years. His work spans both theoretical contributions (such as unifying frameworks for motion planning and diversity search) and practical implementations (including humanoid robot control systems). A key trend in his research is the integration of motion planning techniques with reinforcement learning, creating more efficient and robust learning systems for robotics applications.
Dr. Perrin-Gilbert is the primary maintainer of xpag, a modular reinforcement learning library with JAX agents that supports standard reinforcement learning and goal-conditioned reinforcement learning. This open-source project demonstrates his commitment to developing practical tools for the research community. The library has gained significant traction with 27 GitHub stars and 6 forks, and is used by other researchers in the field.
His collaborations span multiple institutions and research groups, with frequent co-authorship with researchers from ISIR including Olivier Sigaud, Alexandre Chenu, and Stéphane Doncieux. He has also collaborated with researchers from other institutions on projects involving humanoid robots like COMAN and Cassie, demonstrating the applied nature of his work.
