My list of publications is available here.

Selected publications :

Over the last twenty years, a significant part of the research in exploratory robotics partially switches from looking for the most efficient way of exploring an unknown environment to finding what could motivate a robot to autonomously explore it. […] The Head Turning Modulation model presented in this paper is composed of two modules providing a robot with two different forms of intrinsic motivations leading to triggering head movements towards audiovisual sources appearing in unknown environments. First, the Dynamic Weighting module implements a motivation by the concept of Congruence, a concept defined as an adaptive form of semantic saliency specific for each explored environment. Then, the Multimodal Fusion & Inference module implements a motivation by the reduction of Uncertainty through a self-supervised online learning algorithm that can autonomously determine local consistencies. […] Results presented in this paper have been obtained in simulated environments as long as with a real robot in realistic experimental conditions.
in Frontiers in Neurorobotics, 2018

A new approach for robotics perception, rooted in the sensorimotor paradigm, is proposed in this paper. Making systems able to autonomously adapt themselves to changes in their own body or in their environment is still a challenging question for many different scientific communities. Multiple works propose either sophisticated adaptive model-based or learning-based techniques as a solution. Recent contributions have shown that it is possible for an agent to discover the structure of its interaction with the environment or its own body via the so-called sensorimotor flow. The presented work is based on this idea, and a method for building an internal representation of sensorimotor interaction is proposed, which does not require any a priori knowledge or model. A careful mathematical formalization is outlined, together with simulations, demonstrating the effectiveness of the approach. Several cases are considered allowing for a general discussion. Moreover, plausibility of the internal sensorimotor representation is highlighted by showing that it is possible to consider motion planning directly from it.
in IEEE Transactions on Cognitive and Developmental Systems, 2017


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:

PhD students

Jean-Merwan Godon (2017 - to date), co-advised with Bruno Gas
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 - to date), co-advised with Bruno Gas
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 Musabini
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.

Master students

The following students worked with us during their M.Sc. intership in ISIR.

  • 2018: Quentin Marmouget, Félix Rohrlich
  • 2017: Jean-Merwan Godon


I’m the teaching instructor for the following courses at Sorbonne Université:

  • 3E105: an introduction to acquisition and audio processing
  • 4AN01: digital signal processing
  • 5AR01: robot audition, an introduction

I’m also involved in the following courses (tutorial classes or practical works):

  • TO DO

Most of my courses are available on Sorbonne Université’s Moodle (only available to the University students, for now).