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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Thomas, Federico
Researcher
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Grosch, Patrick John
Researcher
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Ruiz de Angulo, Vicente
Researcher
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Strazzeri, Fabio
Researcher
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Jiménez, Pablo
Researcher
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Borràs Sol, Júlia
Researcher
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Alenyà, Guillem
Researcher
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Moreno, Francesc
Researcher
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Andrade, Juan
Researcher
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Alberich, Maria
Researcher
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Colomé, Adrià
Researcher
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Delgado, Juan Antonio
PhD Student
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Coltraro, Franco
PhD Student
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Martínez, Sergi
Support
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Foix, Sergi
Support
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Canal, Gerard
Member
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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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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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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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, 2020, to appear.
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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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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. 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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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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Conference Publications
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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, Online, 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, 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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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, Online, to appear.
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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, Online, to appear.
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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, Online, pp. 4630-4636.
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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
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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. 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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C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 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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