Perception and Machine-Learning
Research on Perception and Machine-Learning
Robotic systems are generally based on the classic cycle: Perception → Reasoning+Decision/Planning → Action. The goal of the "Perception and Machine-Learning" research axis is to improve the ability to perceive and interpret in real time the environment of robots. Note that we consider robots in a broad meaning, including mobile robots, collaborative robots, an also intelligent vehicles. More specifically, the research and scientific contributions of this theme are covering the following topics:
- Real-time computer-vision
- Multi-sensor fusion
- Ego-localization and SLAM
- Machine-Learning (ML) in general and Deep-Learning (DL) in particular
- Pattern recognition (categorization or identification)
- Gesture or action recognition
- Time-series prediction
- Reinforcement-Learning (RL)
People
Permanent staff:
- Fabien MOUTARDE: Full Professor
- Bogdan STANCIULESCU: Associate Professor
- Cyril JOLY: Assistant Professor
- Hsiu-Wen (Kelly) CHANG : Assistant Professor
- Sascha HORNAUER: Tenure-track
PhD students:
- Simon DE MOREAU [March2023-...] : End-to-end holistic vehicle lighting, CIFRE PhD with Valeo lighting [PhD thesis director = Fabien Moutarde, PhD thesis co-supervisor = Bogdan Stanciulescu]
- Angelika ANDO [December2022-...] : Embedded 3D visualization using Neural Rendering, PhD funded by FORVIA [PhD thesis director = Fabien Moutarde, PhD thesis co-supervisor = Bogdan Stanciulescu]
- Amandine BRUNETTO [November2022-...] : Exploitation of sound for real-time reconstruction and understanding of 3D scenes, PhD thesis funded by Franco-American project (ANR-NSF) Omni-BatVision [PhD thesis director = Fabien Moutarde, PhD thesis co-supervisor = Sascha Hornauer]
- Iad ABDUL RAOUF [Jan.2022-...] : Magnetic field and vision-based loop closure, CEA-LIST PhD thesis [PhD thesis director = Alexis Paljic, PhD thesis co-supervisor = Cyril Joly]
- Raphaël CHEKROUN [Apr.2021-...] : Deep Reinforcement Learning for autonomous Driving (CIFRE Valeo Driving Assistance) [PhD thesis director = Fabien Moutarde, PhD thesis co-supervisor= Sascha Hornauer]
- Thomas GILLES [March2020-...] : Prediction of vehicle trajectories (CIFRE PhD with Huawei-France) [PhD thesis director = Fabien Moutarde, PhD thesis co-supervisor = Bogdan Stanciulescu]
- Arthur MOREAU [March2020-...] : Deep-Learning for ego-localization of vehicles from vision (CIFRE PhD with Huawei-France) [PhD thesis director Arnaud de La Fortelle, PhD thesis co-supervisor = Bogdan Stanciulescu]
- Jesus BUJALANCE-MARTIN [Dec.2019-...] : Deep Reinforcement Learning for teaching tasks to manipulation robots [PhD thesis director = Fabien Moutarde]
Former PhD students:
- Jade COULIN [Jan.2020-Mar.2023] : Magneto-Visual-Inertial SLAM for Indoor Localization (PhD funded by CEA-LIST)
- Joseph GESNOUIN [Nov.2019-Sept.2022] : Analysis of pedestrian postures and movement for predicting their intentions and trajectories (PhD funded by VeDeCom)
- Marin TOROMANOFF [Jan.2018-Mar.2021]: End-to-end Autonomous Driving using Deep Reinforcement Learning, CIFRE PhD with Valeo (Driving Assistance R&D) / Valeo.ai
- Guillaume DEVINEAU [Oct.2016-Sept.2020] : Deep-Learning for Multivariate Time Series: from Vehicle Control to Gesture Recognition and Generation
- Mathieu NOWAKOWSKI [Mar.2016-Mar.2019] : Localization of a humanoid robot in a non-constrained indoor environment, CIFRE PhD thesis with Aldebaran
- Li YU [Oct.2014-Avr2018] : Absolute Localization by Mono-camera for a Vehicle in Urban Area using Street View, PhD thesis funded by VeDeCom
- ...
PUBLICATIONS
Current research projects
- Academic supervision of industrial PhD thesis (CIFRE) of Valeo lighting (Simon DE MOREAU, End-to-end holistic vehicle lighting)
- PhD thesis direct contract with FORVIA [Angelika ANDO, Embedded 3D visualization using Neural Rendering]
- Franco-American public project (ANR-NSF) Omni-BatVision
- Academic supervision of a CEA-LIST PhD [Iad ABDUL RAUF on "Magnetic field and vision based loop closure "]
- Franco-German public project HAIBrid
- Academic supervision of 2 industrial PhD thesis (CIFRE) of Huawei-France [Thomas GILLES on "Prediction of vehicle trajectories" and Arthur MOREAU on "Learning-based algorithms for real-time visual localization of mobile robots"]
- Academic supervision of industrial PhD thesis (CIFRE) of Valeo Driving Assistance [Raphaël CHEKROUN, "Deep Reinforcement Learning for autonomous Driving"]