Research Project
CLOTHILDE: Cloth manipulation learning from demonstration
Type
European Project
Start Date
01/01/2018
End Date
31/12/2022
Project Code
ERC-2016-ADG-741930
Staff
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Andrade, Juan
Researcher
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Alberich, Maria
Researcher
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Strazzeri, Fabio
Researcher
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Alenyà, Guillem
Researcher
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Moreno, Francesc
Researcher
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Ruiz de Angulo, Vicente
Researcher
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Colomé, Adrià
Researcher
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Thomas, Federico
Researcher
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Borràs, Júlia
Researcher
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Jiménez, Pablo
Researcher
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Coltraro, Franco
PhD Student
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Delgado, Juan Antonio
PhD Student
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Canal, Gerard
PhD Student
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Foix, Sergi
Support
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Martínez, Sergi
Support
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Grosch, Patrick John
Support
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
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I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs Sol, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 2020, to appear.
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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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C. Torras. Assistive robotics: Research challenges and ethics education initiatives. DILEMATA: International Journal of Applied Ethics, 30: 63-77, 2019.
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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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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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Conference Publications
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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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J. Borràs Sol, 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
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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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