Research Project

CLOTHILDE: Cloth manipulation learning from demonstration

Type

European Project

Start Date

01/01/2018

End Date

31/12/2023

Project Code

ERC-2016-ADG-741930

Project illustration

Staff

Project Description

The project aim is to establish the foundations of versatile cloth manipulation by robots. The theoretical ground will be to link machine learning and computational topology methods, so as to come up with a theory of cloth deformation under manipulation leading to a general framework for robots to learn to manipulate garments from human demonstrations. Such framework will encompass: non-expert teaching of a task, robot perception and skill learning, task-oriented cloth representation, probabilistic planning, robot task execution in varying initial conditions, failure diagnosis and informed requests for human help.

Project website: https://clothilde.iri.upc.edu

This project has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No 741930)

Project Publications

Journal Publications

  • A. Andriella, H. Siqueira, D. Fu, S. Magg, P. Barros, S. Wermter, C. Torras and G. Alenyà. Do I have a personality? Endowing care robots with context-dependent personality traits. International Journal of Social Robotics, 2021, to appear.

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  • M. Arduengo, A. Colomé, J. Borràs, L. Sentis and C. Torras. Task-adaptive robot learning from demonstration with Gaussian process models under replication. IEEE Robotics and Automation Letters, 6(2): 966-973, 2021.

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  • A. Colomé and C. Torras. A topological extension of movement primitives for curvature modulation and sampling of robot motion. Autonomous Robots, 45: 725-735, 2021.

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  • F. Strazzeri and C. Torras. Topological representation of cloth state for robot manipulation. Autonomous Robots, 45: 737–754, 2021.

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  • M.A. Roa, M.R. Dogar, J. Pagès, C. Vivas, A. Morales, N. Correll, M. Görner, J. Rosell, S. Foix, R. Memmesheier and F. Ferro. Mobile manipulation hackathon: moving into real world applications. IEEE Robotics and Automation Magazine, 28(2): 112-124, 2021.

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  • G. Canal, C. Torras and G. Alenyà. Are preferences useful for better assistance?: A physically assistive robotics user study. ACM Transactions on Human-Robot Interaction, 10(4): 1-19, 2021.

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  • S. Donaire, J. Borràs, G. Alenyà and C. Torras. A versatile gripper for cloth manipulation. IEEE Robotics and Automation Letters, 5(4): 6520-6527, 2020.

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  • I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020.

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  • J. Borràs, G. Alenyà and C. Torras. A grasping-centered analysis for cloth manipulation. IEEE Transactions on Robotics, 36(3): 924-936, 2020.

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  • P. Jiménez and C. Torras. Perception of cloth in assistive robotic manipulation tasks. Natural Computing, 19(2): 409-431, 2020.

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  • C. Torras. Science-fiction: A mirror for the future of humankind. IDEES(48): 1-11, 2020.

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  • C. Torras. Assistive robotics: Research challenges and ethics education initiatives. DILEMATA: International Journal of Applied Ethics, 30: 63-77, 2019.

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  • F. Amadio, A. Colomé and C. Torras. Exploiting symmetries in reinforcement learning of bimanual robotic tasks. IEEE Robotics and Automation Letters, 4(2): 1838-1845, 2019.

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  • A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

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  • A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.

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  • C. Torras. Social networks and robot companions: Technology, ethics, and science fiction. Mètode Science Studies Journal, 99: 47-53, 2018.

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  • C. Torras and R. López de Mántaras. Special issue editorial: Interconnectats: Màquines i humans davant del segle 10101. Mètode Science Studies Journal, 99: 2-3, 2018.

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Conference Publications

  • N.H. , R. Jangir, Y.S. , G. Alenyà, P. Abbeel, A.A. , L.P. and X.W.. Self-supervised policy adaptation during deployment, Ninth International Conference on Learning Representations, 2021, Online.

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  • M. Arduengo, A. Arduengo, A. Colomé, J. Lobo and C. Torras. Human to robot whole-body motion transfer, 2020 IEEE-RAS International Conference on Humanoid Robots, 2021, Munic (Online), to appear.

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  • I. Geer, M. Maceira, J. Borràs, C. Torras and G. Alenyà. Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor, 2020 IROS Workshop on Robotic Manipulation of Deformable Objects, 2020, Online, pp. 1-6.

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  • V.A. Carmona, J. Lobo, J. van Ruysevelt, C. Torras and J.M. Font. Development and pilot evaluation of the ArmTracker: A wearable system to monitor arm kinematics during daily life, 8th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics , 2020, New York City, NY, USA, pp. 759-764, IEEE.

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  • D. Parent, A. Colomé and C. Torras. Variable impedance control in Cartesian latent space while avoiding obstacles in null space, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 9888-9894, IEEE.

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  • J.A. Delgado-Guerrero, A. Colomé and C. Torras. Sample-efficient robot motion learning using Gaussian process latent variable models, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 314-320, IEEE.

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  • R. Jangir, G. Alenyà and C. Torras. Dynamic cloth manipulation with deep reinforcement learning, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 4630-4636, IEEE.

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  • A. Andriella, R. Huertas, S. Forgas, C. Torras and G. Alenyà. Discovering SOCIABLE: Using a conceptual model to evaluate the legibility and effectiveness of backchannel cues in an entertainment scenario, 29th IEEE International Symposium on Robot and Human Interactive Communication, 2020, Naples, Italy (Virtual), pp. 752-759.

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  • J.A. Delgado-Guerrero, A. Colomé and C. Torras. Contextual policy search for micro-data robot motion learning through covariate Gaussian process latent variable models, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Las Vegas, NV, USA, pp. 5511-5517.

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  • G. Canal, M. Cashmore, S. Krivić, G. Alenyà, D. Magazzeni and C. Torras. Probabilistic planning for robotics with ROSPlan, 2019 Annual Conference Towards Autonomous Robotic Systems Conference, 2019, London, in Towards Autonomous Robotic Systems, Vol 11649 of Lecture Notes in Computer Science, pp. 236-250, 2019, Springer.

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  • C. Torras. Anticipatory science fiction to foster ethical debates on AI and robotics, 2019 International Symposium on Anticipation and Anticipatory Systems: Humans Meet AI, 2019, Örebro, Sweden, pp. 1-3.

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  • J. Borràs, R. Heudorfer, S. Rader, P. Kaiser and T. Asfour. The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 4590-4597.

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Other Publications

  • A. Colomé and C. Torras. Reinforcement Learning of Bimanual Robot Skills. Volume 134 of Springer Tracts in Advanced Robotics. Springer, 2020.

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  • C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.

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  • C. Torras. Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques. Institut d'Estudis Catalans. Secció de Ciències i Tecnologia, 2018.

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  • F. Strazzeri and C. Torras. Configuration space of a textile rectangle. In Geometry of Varieties and Applications, . Springer-Birkhäuser, 2020.

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  • C. Torras. Robotics and artificial intelligence meet the humanities: Some initiatives for ethics education and dissemination. In Humanities and Higher Education: Synergies between Science, Technology and Humanities, 267-273. Global University Network for Innovation, 2019.

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  • F. Coltraro. Experimental validation of an inextensible cloth model. Technical Report IRI-TR-20-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2020.

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  • R. Jangir, G. Alenyà and C. Torras. Learning cloth manipulation with demonstrations. Technical Report IRI-TR-19-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019.

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