I am young researcher (defended my Ph.D. in May 2015) in the Inria Flowers team with Pierre-Yves Oudeyer, my advisor. I am currently focusing on the study of computational models of exploratory behavior in sensorimotor spaces in the context of developmental robotics. I developed the explorers framework.

Besides exploratory behavior and developmental robotics, my research interests include computational models of intrinsic motivation, embodiment and evolutionary robotics, in particular in the context of evo-devo-robo approaches. I am looking for a postdoctoral position, and here is my CV.


The Recode project aims at reimplementing experiments described in published scientific articles. Besides replicating published results—which is always good—, those implementations strive to be as short, as simple and as understandable as possible, without hiding the code behind layers of abstractions.

  • Introduction Goal Babbling, adapted from my Ph.D. Thesis, May 2015
  • Robots that can adapt like animals, Nature 2015
  • Evolving Neural Networks through Augmenting Topologies, Evolutionary Computation (in prep)
  • A Diversity-Guided Particle Swarm Optimizer – the ARPSO, EVALife Technical Report (in prep)


  • F. Benureau, P-Y. Oudeyer, Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience Frontiers in Robotics and AI, 2016. {pdf} {code}
  • F. Benureau, P-Y. Oudeyer, Diversity-Driven Selection of Exploration Strategies in Multi-Armed Bandits ICDL-Epirob conference, Providence, RI, USA, 2015. {pdf} {bibtex} {code} {raw plots}
  • F. Benureau, Self-Exploration of Sensorimotor Spaces in Robots Ph.D. thesis, University of Bordeaux, May 2015. {pdf} {code}
  • F. Benureau, P. Fudal, P-Y. Oudeyer, Reusing Motor Commands to Learn Object Interaction ICDL-Epirob conference, Genoa, Italy, 2014. {pdf} {bibtex} {code}
  • F. Benureau, P-Y. Oudeyer, Autonomous Reuse of Motor Exploration Trajectories ICDL-Epirob conference, Osaka, Japan, 2013. {pdf} {bibtex} {code}

In Prep & Under Review

  • F. Benureau, P-Y. Oudeyer, Quantification of Robotic Arm Redundancy Through Discretization (in prep)
  • F. Benureau, P-Y. Oudeyer, Diversity as a Algorithmic Tool in Computer Science: A Review (in prep)

Open Science

To allow our experiments to be reproduced, scrutinized, and build upon, the code for all our experiments is available. The code is provided under the OpenScience License, which include any and all terms of the LGPL license, plus the following condition :

If you publicly release any scientific claims or data that were supported or generated by the Program or a modification thereof, in whole or in part, you will release any modifications you made to the Program. This License will be in effect for the modified program.

The OpenScience License ensure that uses and modification of this code throughout the scientific community remain available, reproducible, and verifiable to all.