2024

Journal articles

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning with Accuracy Optimization based on Learned Sensitivity Metrics. IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10113-10120. ⟨hal-04636547⟩

Conference papers

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Learning Geometric Reasoning Networks for Robot Task and Motion Planning. Accepted to the International Conference on Learning Representations (ICLR), Apr 2025, Singapore, Singapore. ⟨hal-04914376⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04636503⟩

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Learned Uncertainty Tubes via Recurrent Neural Networks for Planning Robust Robot Motions. 27th European Conference on Artificial Intelligence (ECAI), Oct 2024, Santiago de Compostela, Spain. ⟨hal-04636454⟩

Other documents

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Robust Motion Planning and Accuracy Optimization based on Learned Sensitivity Metric (Video). 2024. ⟨hal-04642257⟩

Preprints, Working Papers, ...

Simon Wasiela, Smail Ait Bouhsain, Marco Cognetti, Juan Cortés, Thierry Simeon. Note on learning sensitivity metrics for a quadrotor. 2024. ⟨hal-04642304⟩

2023

Conference papers

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments. IEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom. ⟨hal-03808885v2⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Simultaneous Action and Grasp Feasibility Prediction for Task and Motion Planning through Multi-Task Learning. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroy, United States. ⟨hal-04016581⟩

Simon Wasiela, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories. IEEE International Conference on Robotics and Automation (ICRA), 2023, London, United Kingdom. ⟨hal-03808933v2⟩

Preprints, Working Papers, ...

Simon Wasiela, Marco Cognetti, Paolo Robuffo Giordano, Juan Cortés, Thierry Simeon. Learned Sensitivity Metrics for Robust and Accurate Motion Planning. 2023. ⟨hal-04027078⟩

Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects. 2023. ⟨hal-04284213⟩

2022

Journal articles

Amélie Barozet, Kevin Molloy, Marc Vaisset, Christophe Zanon, Pierre Fauret, et al.. MoMA-LoopSampler: A web server to exhaustively sample protein loop conformations. Bioinformatics, 2022, 38 (2), pp.552-553. ⟨10.1093/bioinformatics/btab584⟩. ⟨hal-03326493⟩

2021

Journal articles

Amélie Barozet, Marc Bianciotto, Marc Vaisset, Thierry Simeon, Hervé Minoux, et al.. Protein loops with multiple meta-stable conformations: a challenge for sampling and scoring methods. Proteins - Structure, Function and Bioinformatics, 2021, 89 (2), pp.218-231. ⟨10.1002/prot.26008⟩. ⟨hal-02947409⟩

Book sections

Juan Cortés, Thierry Simeon. Sampling-Based Tree Planners (RRT, EST, and Variations). Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2021, ⟨10.1007/978-3-642-41610-1_170-1⟩. ⟨hal-03165054⟩

2020

Journal articles

Amélie Barozet, Kevin Molloy, Marc Vaisset, Thierry Simeon, Juan Cortés. A Reinforcement-Learning-Based Approach to Enhance Exhaustive Protein Loop Sampling. Bioinformatics, 2020, 36 (4), pp.1099-1106. ⟨10.1093/bioinformatics/btz684⟩. ⟨hal-02289207⟩

Book sections

Laurent Denarie, Kevin Molloy, Marc Vaisset, Thierry Simeon, Juan Cortés. Combining System Design and Path Planning. Goldberg K., Abbeel P., Bekris K., Miller L. Algorithmic Foundations of Robotics XII, 13, , pp.112-127, 2020, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-030-43089-4_8⟩. ⟨hal-02571707⟩

2019

Journal articles

Kevin Molloy, Laurent Denarie, Marc Vaisset, Thierry Simeon, Juan Cortés. Simultaneous System Design and Path Planning: A Sampling-based Algorithm.. The International Journal of Robotics Research, 2019, 38 (2-3), pp.375-387. ⟨10.1177/0278364918783054⟩. ⟨hal-01834414⟩

Book sections

Alexandre Boeuf, Juan Cortés, Thierry Simeon. Motion Planning. Aerial Robotic Manipulation, pp.317-332, 2019, 978-3-030-12945-3. ⟨10.1007/978-3-030-12945-3_23⟩. ⟨hal-02191300⟩

2018

Journal articles

Laurent Denarie, Ibrahim Al Bluwi, Marc Vaisset, Thierry Simeon, Juan Cortés. Segmenting Proteins into Tripeptides to Enhance Conformational Sampling with Monte Carlo Methods. Molecules, 2018, 23 (2), pp.373. ⟨10.3390/molecules23020373⟩. ⟨hal-01708710⟩

Amélie Barozet, Marc Bianciotto, Thierry Simeon, Hervé Minoux, Juan Cortés. Conformational changes in antibody Fab fragments upon binding and their consequences on the performance of docking algorithms. Immunology Letters, 2018, 200, pp.5-15. ⟨10.1016/j.imlet.2018.06.002⟩. ⟨hal-01823695⟩

Alejandro N Estaña, Kevin Molloy, Marc Vaisset, Nathalie Sibille, Thierry Simeon, et al.. Hybrid parallelization of a multi-tree path search algorithm: Application to highly-flexible biomolecules. Parallel Computing, 2018, 77, pp.84-100. ⟨10.1016/j.parco.2018.06.005⟩. ⟨hal-01823694v2⟩

2017

Conference papers

Francesco Capolupo, Thierry Simeon, Jean-Claude Berges. Heuristic Guidance Techniques for the Exploration of Small Celestial Bodies. The 20th World Congress of the International Federation of Automatic Control (IFAC 2017), Jul 2017, Toulouse, France. 6p. ⟨hal-01561690⟩

2016

Journal articles

Didier Devaurs, Thierry Simeon, Juan Cortés. Optimal Path Planning in Complex Cost Spaces With Sampling-Based Algorithms. IEEE Transactions on Automation Science and Engineering, 2016, 13 (2), pp.415-424. ⟨10.1109/TASE.2015.2487881⟩. ⟨hal-01231482⟩

Conference papers

Laurent Denarie, Kevin Molloy, Marc Vaisset, Thierry Simeon, Juan Cortés. Combining System Design and Path Planning. Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec 2016, San Francisco, United States. ⟨hal-01364042⟩

2015

Journal articles

Didier Devaurs, Kevin Molloy, Marc Vaisset, Amarda Shehu, Thierry Simeon, et al.. Characterizing Energy Landscapes of Peptides using a Combination of Stochastic Algorithms. IEEE Transactions on NanoBioscience, 2015, 14 (5), pp. 545-552. ⟨hal-01143833⟩

Conference papers

Alexandre Boeuf, Juan Cortés, Rachid Alami, Thierry Simeon. Enhancing sampling-based kinodynamic motion planning for quadrotors. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. ⟨hal-01231717⟩

Kevin Molloy, Nicolas Buhours, Marc Vaisset, Thierry Simeon, Étienne Ferré, et al.. A Reinforcement Learning Approach to Protein Loop Modeling. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. ⟨hal-01206128⟩