My research interests are mainly focused on active/interactive perception, i.e. understanding how perception and action are tighlty linked together inside the sensorimotor flow. My approach consists in studying sensorimotor contingencies (i.e. invariants) whose mathematical structure can explain how a naive robot can understand, by itself, the structure of its interaction with the environment.
I have also worked on Robot Audition (well, I still do sometimes), especially within the binaural paradigm. In Robotics, using only two microphones with a head is a challenging task when dealing with auditory scene analysis in realistic environments involving noises, reverberations, etc. On this topic, I have mainly worked on sound source localization, but also on active audition, mixing audition with the robot movement to better the scene analysis.
Habilitation (HDR), 2018
PhD in Robotics, 2006
Université Paul Sabatier
M.Sc. in Robotics and Intelligent Systems, 2003
Université Pierre et Marie Curie
Agrégation externe in electrical engineering, 2002
Ecole Normale Supérieure de Cachan
My list of publications is available here.
Selected publications :
Research is definitely not something you can do alone. You work with colleagues, partners, students, all of them sharing their enthusiasm, knownledge and competences. I have/had the pleasure to work with:
Waradon Senzt Phokhinanan (2019 - to date), in cooperation with Nicolas Obin (IRCAM)
Waradon is just starting his PhD on active robotic audition, in cooperation with Nicolas Obin from IRCAM.
Jean-Merwan Godon (2017 - to date)
Jean comes from applied mathematics, and he tried during his M.Sc. internship to introduce some rigorous mathematical foundations to the notion of action, in the framework of interactive perception. He is now trying to pursue this work during hig PhD.
Valentin Marcel (2015 - 2019)
Valentin is working hard on active perception, trying to formalize the existence of contingencies in the sensorimotor flow. So far, he proposed a contribution on how to build a sensorimotor representation of an agent body. We are now trying to extend this formalization to the working space of a naive agent.
Benjamin Cohen-Lhyver (2013 - 2017), co-advised with Bruno Gas
Benjamin worked on the european project TWO!EARS. His PhD thesis, entitled “Modulating the head movement for the multimodal analysis of an unknown environment” dealt with how a robot, entailed with a rotating head, can use its action to (i) learn the interlink between the audio and visual modalities, in order to (ii) better its understand of the audiovisual scene (through the new notion of congruence).
Alban Laflaquière (2009-2013), co-advised with Bruno Gas
Alban was the first PhD student of the team to work on the sensorimotor point of view of perception. As such, he did all the spadework for our futur works on interactive perception. During his PhD thesis, he worked on the estimation of space dimension, inspired by Henri Poincaré’s intuition. He also proposed a first intuitive way for an agent to build a representation of its interaction with the environement.
Karim Youssef (2010-2013), co-advised with Jean-Luc Zarader
Karim worked on the BINNAHR project. He was mainly interested in binaural sound localization in realistic acoustic conditions, involving noises and reverberations. He proposed a learning strategy which is robust to such considerations, together with other contributions on visualy-guided audio localization, or binaural speaker recognition.
Alban Portello (2010-2013), co-advised with Patrick Danès
Alban was in LAAS, Toulouse during his PhD, mainly advised by Patrick. Like Karim, he was involved in the BINNAHR project. The aim of his PhD was to develop active strategies, combining binaural signals with the sensor motor commands so as to overcome usual limitations in the case of a static world: resolve front-back ambiguities, recover observability of variables, etc.
Antonyo worked with us on the TWO!EARS project as an engineer. He was in charge of the ISIR robot of the projet (called ODI). He also developed, with our colleagues from LAAS, a ROS binaural frontend which is now available on Github.
I’m the teaching instructor for the following courses at Sorbonne Université:
I’m also involved in the following courses (tutorial classes or practical works):
Most of my courses are available on Sorbonne Université’s Moodle (only available to the University students, for now).