• 

  2019-present

  Flowers lab, Inria, Bordeaux

  Permanent researcher

  Principal investigator of the projects
  • ORIGINS: Grounding Artificial Intelligence in the Origins of Human behavior (funding: Inria)
  • ECOCURL: Emergent communication through curiositydriven multi-agent reinforcement learning (funding: ANR)
• 

  2017-2019

  Cogitai Inc., USA

  Research scientist

  • Cogitai, Inc. is dedicated to building artificial intelligences (AIs) that learn continually from interaction with the real world. Our goal is to build the brains, i.e., the continual-learning AI software, that will let everyday things that sense and act get smarter with experience. This experience will be shared across devices and domains to allow the rapid scaling-up of learning.
• 

  2015-2017

  SPECS laboratory, UPF, Barcelona

  Post-doctoral researcher

  • Cognitive architectures for Human-Robot Interaction (WYSIWYD project)
  • Co-investigator of the INSOCO project (with Martì Sanchez-Fibla)
  • Emergence of social behavior in multi-agent populations ( SocSMCs project)
  • Modeling of synthetic consciousness (CDAC project)
• 

  2012-2014

  Flowers lab, Inria, Bordeaux

  Researcher

  • Self-organisation of early vocal development
  • Explauto: a curiosity-driven learning framework
    • Open-source Python library
• 

  2011

  LPPA, Collège de France -- CNRS, Paris

  Post-doctoral researcher, ROMEO project

  Decision making under uncertainty: a quasimetric approach
• 

  2009

  USC Brain Project, Los Angeles

  Visiting scholar

  Recognizing speech in a novel accent: The motor theory of speech perception reframed
• 

  2007-2011

  GIPSA-Lab, Speech and Cognition Department, Grenoble

  PhD student and teaching assistant

  COSMO: Communicating about Objects using Sensory-Motor Operations

  • Sound system emergence in COSMO agent populations (target paper of a Special Issue: On the cognitive nature of speech sound systems)
  • Bayesian model of speech communication
  • PhD thesis in French
• 

  2000-2007

  University of Grenoble

  Student

  • Master in Computer Science
  • Master in Cognitive Science
  • Bachelor in Mathematics and Computer Science

International journals

• Moulin-Frier, C., Brochard, J., Stulp, F., & Oudeyer, P.-Y. (2020). Emergent Jaw Predominance in Vocal Development through Stochastic Optimization. IEEE Transactions on Cognitive and Developmental Systems, 12(3), 378–389. https://doi.org/10.1109/TCDS.2017.2704912
  Details
• Freire, I. T., Moulin-Frier, C., Sanchez-Fibla, M., Arsiwalla, X. D., & Verschure, P. F. M. J. (2020). Modeling the Formation of Social Conventions from Embodied Real-Time Interactions. PLOS ONE, 15(6), e0234434. https://doi.org/10.1371/journal.pone.0234434
  Details
• Kusters, R., Misevic, D., Berry, H., Cully, A., Le Cunff, Y., Dandoy, L., Díaz-Rodríguez, N., Ficher, M., Grizou, J., Othmani, A., Palpanas, T., Komorowski, M., Loiseau, P., Moulin Frier, C., Nanini, S., Quercia, D., Sebag, M., Soulié Fogelman, F., Taleb, S., … Wehbi, F. (2020). Interdisciplinary Research in Artificial Intelligence: Challenges and Opportunities. Frontiers in Big Data, 3. https://doi.org/10.3389/fdata.2020.577974
  Details
• Sanchez-Fibla, M., F́orestier Sebastien, Moulin-Frier, C., Puigbo, J.-Y., & Verschure, P. F. M. J. (2019). From Motor to Visually Guided Bimanual Affordance Learning. Adaptive Behavior.
  Details
• Arsiwalla, X. D., Sole, R., Moulin-Frier, C., Herreros, I., Sanchez-Fibla, M., & Verschure, P. (2018). The Morphospace of Consciousness. ArXiv:1705.11190 [Cond-Mat, Physics:Physics, q-Bio].
  Details
• Fischer, T., Puigbò, J.-Y., Camilleri, D., Nguyen, P. D. H., Moulin-Frier, C., Lallée, S., Metta, G., Prescott, T. J., Demiris, Y., & Verschure, P. F. M. J. (2018). iCub-HRI: A Software Framework for Complex Human–Robot Interaction Scenarios on the iCub Humanoid Robot. Frontiers in Robotics and AI, 5, 22. https://doi.org/10.3389/frobt.2018.00022
  Details
• Moulin-Frier, C., Fischer, T., Petit, M., Pointeau, G., Puigbo, J.-Y., Pattacini, U., Low, S. C., Camilleri, D., Nguyen, P., Hoffmann, M., Chang, H. J., Zambelli, M., Mealier, A.-L., Damianou, A., Metta, G., Prescott, T. J., Demiris, Y., Dominey, P. F., & Verschure, P. F. M. J. (2018). DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self. IEEE Transactions on Cognitive and Developmental Systems, 10(4), 1005–1022. https://doi.org/10.1109/TCDS.2017.2754143
  Details
• Acevedo Valle, J. M., Angulo, C., & Moulin-Frier, C. (2017). Autonomous Discovery of Motor Constraints in an Intrinsically-Motivated Vocal Learner. IEEE Transactions on Cognitive and Developmental Systems. https://doi.org/10.1109/TCDS.2017.2699578
  Accepted.
  Details
• Sánchez-Fibla, M., Moulin-Frier, C., Arsiwalla, X., & Verschure, P. (2017). A Correlational Analysis of Multiagent Sensorimotor Interactions: Clustering Autonomous and Controllable Entities. ArXiv:1711.08333 [Cs].
  Details
• Schwartz, J.-L., Barnaud, M.-L., Bessière, P., Diard, J., & Moulin-Frier, C. (2016). Phonology in the mirror: Comment on “Towards a Computational Comparative Neuroprimatology: Framing the language-ready brain” by Michael A. Arbib . Physics of Life Reviews , 16, 93–95. https://doi.org/http://dx.doi.org/10.1016/j.plrev.2016.01.007
  Commentary.
  Details
• Moulin-Frier, C., & Verschure, P. (2016). Two possible driving forces supporting the evolution of animal communication: Comment on “Towards a Computational Comparative Neuroprimatology: Framing the language-ready brain” by Michael A. Arbib . Physics of Life Reviews , 16, 88–90. https://doi.org/http://dx.doi.org/10.1016/j.plrev.2016.01.019
  Commentary.
  Details
• Moulin-Frier, C., Diard, J., Schwartz, J.-L., & Bessière, P. (2015). COSMO (“Communicating about Objects using Sensory-Motor Operations”): a Bayesian modeling framework for studying speech communication and the emergence of phonological systems. Journal of Phonetics, 53, 5–41. http://www.sciencedirect.com/science/article/pii/S0095447015000352
  Details
• Moulin-Frier, C., Nguyen, S. M., & Oudeyer, P.-Y. (2013). Self-Organization of Early Vocal Development in Infants and Machines: The Role of Intrinsic Motivation. Frontiers in Psychology (Cognitive Science), 4(1006). https://doi.org/10.3389/fpsyg.2013.01006
  Details
• N’Guyen, S., Moulin-Frier, C., & Droulez, J. (2013). Decision Making under Uncertainty: A Quasimetric Approach. PLoS ONE, 8(12 ), e83411. https://doi.org/10.1371/journal.pone.0083411
  Details
• Laurent, R., Moulin-Frier, C., Bessière, P., Schwartz, J.-L., & Diard, J. (2013). Integrate yes, but what and how? A computational approach of sensorimotor fusion in speech. Commentary in Behavioral and Brain Sciences, FirstView, 36–37. https://doi.org/10.1017/S0140525X12002634
  Details
• Moulin-Frier, C., & Arbib, M. A. (2013). Recognizing speech in a novel accent: The motor theory of speech perception reframed. Biological Cybernetics, 107 (4), 421–447.
  Details
• Moulin-Frier, C., Laurent, R., Bessière, P., Schwartz, J.-L., & Diard, J. (2012). Adverse conditions improve distinguishability of auditory, motor and perceptuo-motor theories of speech perception: an exploratory Bayesian modeling study. Language and Cognitive Processes, 27(7-8, Special Issue: Speech Recognition in Adverse Conditions), 1240–1263. https://doi.org/10.1080/01690965.2011.645313
  Details

Book chapter

• Moulin-Frier, C., Schwartz, J.-L., Diard, J., & Bessière, P. (2011). Emergence of articulatory-acoustic systems from deictic interaction games in a "Vocalize to Localize" framework. In A. Vilain, J.-L. Schwartz, C. Abry, & J. Vauclair (Eds.), Primate communication and human language: Vocalisations, gestures, imitation and deixis in humans and non-humans (p. 193220). Advances in Interaction Studies’ series by John Benjamins Pub. Co.
  Details

International conferences

• Colas, C., Karch, T., Lair, N., Moulin-Frier, C., Dussoux, J.-M., Dominey, P. F., & Oudeyer, P.-Y. (2020). Language as a Cognitive Tool to Imagine Goals in Curiosity Driven Exploration. Advances in Neural Information Processing Systems (NeurIPS 2020). https://arxiv.org/abs/2002.09253
  Details
• Colas, C., Hejblum, B., Rouillon, S., Thiébaut, R., Oudeyer, P.-Y., Moulin-Frier, C., & Prague, M. (2020). EpidemiOptim: A Toolbox for the Optimization of Control Policies in Epidemiological Models.
  Details
• Etcheverry, M., Moulin-Frier, C., & Oudeyer, P.-Y. (2020). Hierarchically-Organized Latent Modules for Exploratory Search in Morphogenetic Systems. Advances in Neural Information Processing Systems (NeurIPS 2020).
  Details
• Karch, T., Colas, C., Teodorescu, L., Moulin-Frier, C., & Oudeyer, P.-Y. (2020). Deep Sets for Generalization in RL. Beyond “Tabula Rasa” in Reinforcement Learning (BeTR-RL) Workshop.
  Details
• Karch, T., Lair, N., Colas, C., Dussoux, J.-M., Moulin-Frier, C., Dominey, P. F., & Oudeyer, P.-Y. (2020). Language-Goal Imagination to Foster Creative Exploration in Deep RL. ICML 2020 Workshop LaReL.
  Details
• Moulin-Frier, C., & Oudeyer, P.-Y. (2020). Multi-Agent Reinforcement Learning as a Computational Tool for Language Evolution Research: Historical Context and Future Challenges. Challenges and Opportunities for Multi-Agent Reinforcement Learning (COMARL), AAAI Spring Symposium Series, Stanford University, Palo Alto, California, USA.
  Details
• Sánchez-Fibla, M., Moulin-Frier, C., & Verschure, P. F. M. J. (2017). A Sensorimotor Account of Visual and Tactile Integration for Depth Perception: An iCub Robot Experiment. 2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 86–91. https://doi.org/10.1109/DEVLRN.2017.8329792
  Details
• Sanchez-Fibla, M., Moulin-Frier, C., Arsiwalla, X., & Verschure, P. (2017). Social Sensorimotor Contingencies: Towards Theory of Mind in Synthetic Agents. Recent Advances in Artificial Intelligence Research and Development: Proceedings of the 20th International Conference of the Catalan Association for Artificial Intelligence, 300, 251.
  Details
• Moulin-Frier, C., Puigbò, J.-Y., Arsiwalla, X. D., Sanchez-Fibla, M., & Verschure, P. F. M. J. (2017). Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework. International Conference on Development and Learning, ICDL/Epirob, Lisbon, Portugal. http://arxiv.org/abs/1704.01407
  Details
• Moulin-Frier, C., Arsiwalla, X. D., Puigbò, J.-Y., Sánchez-Fibla, M., Duff, A., & Verschure, P. F. M. J. (2016). Top-Down and Bottom-Up Interactions between Low-Level Reactive Control and Symbolic Rule Learning in Embodied Agents. Proceedings of the Workshop on Cognitive Computation: Integrating Neural and Symbolic Approaches. 30th Annual Conference on Neural Information Processing Systems (NIPS 2016). http://clement-moulin-frier.github.io/pdf/moulinfrier2016topdown.pdf
  Details
• Puigbò, J.-Y., Moulin-Frier, C., & Verschure, P. F. M. J. (2016). Towards Self-controlled Robots Through Distributed Adaptive Control. Conference on Biomimetic and Biohybrid Systems, 490–497. http://link.springer.com/chapter/10.1007/978-3-319-42417-0_52
  Details
• Arsiwalla, X. D., Herreros-Alonso, I., Moulin-Frier, C., Sánchez-Fibla, M., & Verschure, P. F. M. J. (2016). Is Consciousness a Control Process? Proceedings of the 19th International Conference of the Catalan Association for Artificial Intelligence. http://clement-moulin-frier.github.io/pdf/arsiwalla2016is.pdf
  Details
• Puigbò, J.-Y., Herreros, I., Moulin-Frier, C., & Verschure, P. F. M. J. (2015). Towards a two-phase model of sensor and motor learning. Conference on Biomimetic and Biohybrid Systems, 453–460. https://www.researchgate.net/profile/Jordi_Ysard_Puigbo/publication/300636326_Towards_a_Two-Phase_Model_of_Sensor_and_Motor_Learning/links/573d679808ae9ace840ff59d.pdf
  Details
• Acevedo Valle, J. M., Angulo, C., Agell, N., & Moulin-Frier, C. (2015). Proprioceptive Feedback and Intrinsic Motivations in Early-Vocal Development. Proceedings of the 18th International Conference of the Catalan Association for Artificial Intelligence.
  Details
• Moulin-Frier, C., Sanchez-Fibla, M., & Verschure, P. F. M. J. (2015). Autonomous development of turn-taking behaviors in agent populations: a computational study. IEEE International Conference on Development and Learning, ICDL/Epirob, Providence (RI), USA. http://clement-moulin-frier.github.io/pdf/moulinfrier2015turntaking.pdf
  Details
• Puigbò, J.-Y., Moulin-Frier, C., Vouloutsi, V., Sanchez-Fibla, M., Herreros, I., & Verschure, P. F. M. J. (2015). Skill refinement through cerebellar learning and human haptic feedback: an iCub learning to paint experiment. IEEE-RAS Conference on Humanoids Robots (Humanoids 2015), Seoul, Korea. http://clement-moulin-frier.github.io/pdf/puigbo2015humanoids.pdf
  Details
• Moulin-Frier, C., & Oudeyer, P.-Y. (2013). Exploration strategies in developmental robotics: A unified probabilistic framework. International Conference on Development and Learning, ICDL/Epirob, Osaka, Japan, 1–6. https://doi.org/10.1109/DevLrn.2013.6652535
  Details
• Moulin-Frier, C., & Oudeyer, P.-Y. (2013). The role of intrinsic motivations in learning sensorimotor vocal mappings: a developmental robotics study. Proceedings of Interspeech, Lyon, France.
  Details
• Moulin-Frier, C., & Oudeyer, P.-Y. (2013). Learning how to reach various goals by autonomous interaction with the environment: unification and comparison of exploration strategies. 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM2013), Princeton University, New Jersey.
  Details
• Moulin-Frier, C., & Oudeyer, P.-Y. (2012). Curiosity-driven phonetic learning. International Conference on Development and Learning, Epirob, San Diego, USA. Best Paper Award.
  Details
• Moulin-Frier, C., Laurent, R., Bessière, P., Schwartz, J.-L., & Diard, J. (2011). Noise and inter-speaker variability improve distinguishability of auditory, motor and perceptuo-motor theories of speech perception : An exploratory Bayesian Modeling study. 9th International Seminar on Speech Production, ISSP’11.
  Details
• Moulin-Frier, C., Schwartz, J.-L., Diard, J., & Bessière, P. (2010). A unified theoretical Bayesian model of speech communication. 1st Conference on Applied Digital Human Modeling, Miami, USA.
  Details
• Moulin-Frier, C., Schwartz, J.-L., Diard, J., & Bessière, P. (2008). Emergence du langage par jeux déictiques dans une société d’agents sensori-moteurs en interaction. 27e Journées d’Etudes Sur La Parole, JEP’2008. http://hal.archives-ouvertes.fr/hal-00338789/PDF/Moulin-Frier_JEP_08_Apres_Corrections_10-04-08_.pdf
  Details
• Moulin-Frier, C., Schwartz, J.-L., Diard, J., & Bessière, P. (2008). Emergence of a language through deictic games within a society of sensori-motor agents in interaction. 8th International Seminar on Speech Production, ISSP’08. http://hal.archives-ouvertes.fr/hal-00338786/PDF/ISSP2008_Final_Final.pdf
  Details

Abstracts

• Puigbò, J.-Y., Vouloutsi, V., Moulin-Frier, C., & Verschure, P. F. M. J. (2015). Reactive and adaptive control loops for social learning in human­-robot interaction. In Workshop "Mechanisms of learning in social contexts", IEEE International Conference on Development and Learning, ICDL/Epirob, Providence (RI), USA. http://clement-moulin-frier.github.io/pdf/puigbo2015icdlsocialworkshop.pdf
  Details
• Moulin-Frier, C., Rouanet, P., & Oudeyer, P.-Y. (2014). Explauto: an open-source Python library to study autonomous exploration in developmental robotics. In International Conference on Development and Learning, ICDL/Epirob, Genova, Italy.
  Details
• Arbib, M. A., & Moulin-Frier, C. (2010). Recognizing speech in a novel accent: The motor theory of speech perception reframed. In Neurobiology of Language Conference, San Diego, USA.
  Details
• Moulin-Frier, C., Schwartz, J.-L., Diard, J., & Bessière, P. (2008). Emergence of a language through deictic games within a society of sensori-motor agents in interaction. In International Workshop on "Speech and Face to Face Communication". http://hal.archives-ouvertes.fr/hal-00370575/en/
  Details
• Schwartz, J.-L., Rochet-Capellan, A., & Moulin-Frier, C. (2007). Speech at reach of hand and mouth: Theoretical arguments, experimental facts and computational advances. In Workshop " Vocoid – Vocalization, COmmmunication, Imitation and Deixis in adult and infant human and non human primates ". http://hal.archives-ouvertes.fr/hal-00195339/en/
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Theses

• Moulin-Frier, C. (2011). Rôle des relations perception-action dans la communication parlée et l’émergence des systèmes phonologiques :étude, modélisation computationnelle et simulations [PhD thesis]. Université de Grenoble.
  Details

• Moulin-Frier, C. (2007). Jeux déictiques dans une société d’agents sensori-moteurs en interaction [Master's thesis]. Grenoble-INP.
  Details
• Moulin-Frier, C. (2006). Objets communicants : la traçabilité [Master's thesis]. Université Joseph Fourier, Grenoble.
  Details