Guillaume Sartoretti
Assistant Professor
Leads the MARMoT Lab on distributed deep reinforcement learning for decentralized multi-robot cooperation and high-DoF articulated robots.
Guillaume Sartoretti's lab at NUS works on planning, control & multi-robot systems, reinforcement learning and distributed, cloud & edge systems. 59 papers since 2023, 34 at top venues, mostly IROS and ICRA. 9 PhD students and 4 master's students. 49 alumni, most often to Alibaba and ByteDance. Applications close .
At a glance
- papers, 2023–2026
- 15/ year
- at T1 venues
- 58%
- PhD students
- 9
- MS students
- 4
- alumni listed
- 49
Papers by yearfrom the lab homepage, 2023–2026
- 12 papers2026 · T1 7 · collecting
- 21 papers2025 · T1 9
- 17 papers2024 · T1 12
- 9 papers2023 · T1 6
T1 venuesOtherVenues: IROS, ICRA, CoRL, AAMAS, RA-L
Research focuspaper titles that use each topic's words
- Planning, control & multi-robot systems35 papers
- Reinforcement learning33 papers
- Distributed, cloud & edge systems4 papers
- decentralized2 papers
- cooperation2 papers
Paper list
From the lab homepage.
202612 papers
- IROS (T1)A Tilt-Rotor with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring (opens in a new tab)
- ANTSAID: Agent Intent from Diffusion for Multi-Agent Informative Path Planning (opens in a new tab)
- IROS (T1)APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots (opens in a new tab)
- Elsevier's Communications in Transportation ResearchCOIN: Collaborative Interaction-Aware Multi-Agent Reinforcement Learning for Self-Driving Systems (opens in a new tab)
- ECCV (T1)CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation (opens in a new tab)
- ICLR (T1)Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives (opens in a new tab)
- ICRA (T1)GRATE: a Graph transformer-based deep Reinforcement learning Approach for Time-efficient autonomous robot Exploration (opens in a new tab)
- IROS (T1)ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics (opens in a new tab)
- IROS (T1)KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion (opens in a new tab)
- DARSMACH3: Multi-Agent Cooperative Hierarchical Reinforcement Learning via a Three-Layer Architecture (opens in a new tab)
- RA-LORION: Option-Regularized Deep Reinforcement Learning for Cooperative Multi-Agent Online Navigation (opens in a new tab)
- DARSPlanner-Conditioned Diffusion for Coordinated Multi-Agent Exploration (opens in a new tab)
202521 papers
- CoRL (T1)CogniPlan: Uncertainty-Guided Path Planning with Conditional Generative Layout Prediction (opens in a new tab)
- IEEE International Symposium on Multi-Robot & Multi-Agent Systems (MRS ). Best Paper Award FinalistCOMPASS: Cooperative Multi-Agent Persistent Monitoring using Spatio-Temporal Attention Network (opens in a new tab)
- IEEE Transactions on Intelligent Transportation SystemsCoordLight: Learning Decentralized Coordination for Network-Wide Traffic Signal Control (opens in a new tab)
- ICRA (T1)DARE: Diffusion Policy for Autonomous Robot Exploration (opens in a new tab)
- IEEE International Conference on Robotics and Automation (ICRA ). Best Student Paper Award and Best Paper Award on Multi-Robot SystemsDeploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding (opens in a new tab)
- IEEE Robotics and Automation Letters (RA-L)Heterogeneous Multi-robot Task Allocation and Scheduling via Reinforcement Learning (opens in a new tab)
- Conference on Robot Learning (CoRL ), Oral PresentationLatent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation (opens in a new tab)
- IEEE Transactions on Intelligent Transportation SystemsLearning-based Lane Selection and Driving Orders for Connected Automated Vehicles at Multi-lane Freeway Merging Sections (opens in a new tab)
- Conference on Artificial Intelligence (AAAI ), oral presentationLNS2+RL: Combining Multi-Agent Reinforcement Learning with Large Neighborhood Search in Multi-Agent Path Finding (opens in a new tab)
- ICRA (T1)MARVEL: Multi-Agent Reinforcement Learning for constrained field-of-View multi-robot Exploration in Large-scale environments (opens in a new tab)
- Swarm and Evolutionary ComputationMulti-UAV reconnaissance mission planning via deep reinforcement learning with simulated annealing (opens in a new tab)
- CoRL (T1)Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning (opens in a new tab)
202417 papers
- ICRA (T1)ALPHA: Attention-based Long-horizon Pathfinding in Highly-structured Areas (opens in a new tab)
- AAMAS (T1)Attention-based Priority Learning for Limited Time Multi-Agent Path Finding (opens in a new tab)
- AAMAS (T1)Collaborative Deep Reinforcement Learning for Solving Multi-Objective Vehicle Routing Problems (opens in a new tab)
- TNNLS (T1)Conditional Neural Heuristic for Multi-objective Vehicle Routing Problems (opens in a new tab)
- IROS (T1)DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies (opens in a new tab)
- RA-LDeep Reinforcement Learning-based Large-scale Robot Exploration (opens in a new tab)
- ICRA (T1)Dynamic Coalition Formation and Routing for Multirobot Task Allocation via Reinforcement Learning (opens in a new tab)
- IEEE Robotics and Automation Letters (RA-L)HDPlanner: Advancing Autonomous Deployments in Unknown Environments Through Hierarchical Decision Networks (opens in a new tab)
- IROS (T1)HeteroLight: A General and Efficient Learning Approach for Heterogeneous Traffic Signal Control (opens in a new tab)
- IROS (T1)IR2: Implicit Rendezvous for Robotic Exploration Teams under Sparse Intermittent Connectivity (opens in a new tab)
- ICRA (T1)Learning Heterogeneous Multi-Agent Allocations for Ergodic Search (opens in a new tab)
- IROS (T1)Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion (opens in a new tab)
20239 papers
- ICRA (T1)ARiADNE: A Reinforcement learning approach using Attention-based Deep Networks for Exploration (opens in a new tab)
- CoRL (T1)Context-Aware Deep Reinforcement Learning for Autonomous Robotic Navigation in Unknown Area (opens in a new tab)
- Springer's Autonomous Agents and Multi-Agent SystemsFull Communication Memory Networks for Team-Level Cooperation Learning (opens in a new tab)
- MRSIntent-based Deep Reinforcement Learning for Multi-agent Informative Path Planning (opens in a new tab)
- ICML (T1)Learning Temporally Abstract World Models without Online Experimentation (opens in a new tab)
- Frontiers in Mechanical EngineeringLegged robots for object manipulation: A review (opens in a new tab)
- IROS (T1)SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding (opens in a new tab)
- AAMAS (T1)SocialLight: Distributed Cooperation Learning towards Network-Wide Traffic Signal Control (opens in a new tab)
- IROS (T1)Spatio-Temporal Attention Network for Persistent Monitoring of Multiple Mobile Targets (opens in a new tab)
Where alumni went49 listed, 60% to industry
Industry 3Academia 2
Most often to
- Alibaba
- ByteDance
- Genesis AI
Also to
- NUS
Apply to NUSFall 2027
School of Computing PhD in Computer Science
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