SQUIRREL

Clearing Clutter Bit by Bit

 Coordinatore TECHNISCHE UNIVERSITAET WIEN 

 Organization address address: Gusshausstrasse 27-29/E376
city: Wien

contact info
Titolo: Dr.
Nome: Michael
Cognome: Zillich
Email: send email
Telefono: +43 158801376648
Fax: +43 15880137698

 Nazionalità Coordinatore Austria [AT]
 Totale costo 8˙476˙755 €
 EC contributo 6˙359˙989 €
 Programma FP7-ICT
Specific Programme "Cooperation": Information and communication technologies
 Code Call FP7-ICT-2013-10
 Funding Scheme CP
 Anno di inizio 2014
 Periodo (anno-mese-giorno) 2014-02-01   -   2018-01-31

 Partecipanti

# participant  country  role  EC contrib. [€] 
1    TECHNISCHE UNIVERSITAET WIEN

 Organization address address: Gusshausstrasse 27-29/E376
city: Wien

contact info
Titolo: Dr.
Nome: Michael
Cognome: Zillich
Email: send email
Telefono: +43 158801376648
Fax: +43 15880137698

AT (Wien) coordinator 0.00
2    ALBERT-LUDWIGS-UNIVERSITAET FREIBURG

 Organization address address: FAHNENBERGPLATZ
city: FREIBURG

contact info
Titolo: Prof.
Nome: Wolfram
Cognome: Burgard
Email: send email
Telefono: +49 7612038026
Fax: +49 7612038007

DE (FREIBURG) participant 0.00
3    FESTO DIDACTIC GMBH & CO KG

 Organization address address: RECHBERGSTRASSE 3
city: DENKENDORF

contact info
Titolo: Dr.
Nome: Dirk
Cognome: Pensky
Email: send email
Telefono: +49 71134671334

DE (DENKENDORF) participant 0.00
4    FRAUNHOFER GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTEN FORSCHUNG EV

 Organization address address: HANSASTRASSE 27C
city: MUENCHEN

contact info
Titolo: Mr.
Nome: Walter
Cognome: Krause
Email: send email
Telefono: +49 89 1205 2713
Fax: +49 89 1205 7534

DE (MUENCHEN) participant 0.00
5    IDMIND - ENGENHARIA DE SISTEMAS LDA

 Organization address address: ESTRADA DO PACO DO LUMIAR - POLO TECNOLOGICO DE LISBOA LOTE
city: LISBOA

contact info
Titolo: Ms.
Nome: Cristina
Cognome: Russo
Email: send email
Telefono: 351217000000

PT (LISBOA) participant 0.00
6    KING'S COLLEGE LONDON

 Organization address address: Strand
city: LONDON

contact info
Titolo: Mr.
Nome: Paul
Cognome: Labbett
Email: send email
Telefono: 442078000000

UK (LONDON) participant 0.00
7    PADAGOGISCHE INITIATIVE 2-10

 Organization address address: OBERE DONAUSTRASSE 79
city: WIEN

contact info
Titolo: Mrs.
Nome: Martina
Cognome: Lassl
Email: send email
Telefono: +43 6504633534

AT (WIEN) participant 0.00
8    RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN

 Organization address address: REGINA PACIS WEG 3
city: BONN

contact info
Titolo: Mrs.
Nome: Daniela
Cognome: Sprinkmeier
Email: send email
Telefono: +49 228 737274
Fax: +49 228 736479

DE (BONN) participant 0.00
9    UNIVERSITAET INNSBRUCK

 Organization address address: INNRAIN 52
city: INNSBRUCK

contact info
Titolo: Prof.
Nome: Justus
Cognome: Piater
Email: send email
Telefono: +43 51250753239
Fax: +43 51250753018

AT (INNSBRUCK) participant 0.00
10    UNIVERSITEIT TWENTE

 Organization address address: DRIENERLOLAAN 5
city: ENSCHEDE

contact info
Titolo: Prof.
Nome: Vanessa
Cognome: Evers
Email: send email
Telefono: +31 534893686

NL (ENSCHEDE) participant 0.00

Mappa


 Word cloud

Esplora la "nuvola delle parole (Word Cloud) per avere un'idea di massima del progetto.

robotic    planning    models    manipulation    scenario    complexity    affordances    grasp    world    bit    clutter    learning    robot    toys    scene    incrementally    objects    navigation    object    squirrel   

 Obiettivo del progetto (Objective)

Clutter in an open world is a challenge for many aspects of robotic systems, especially for autonomous robots deployed in unstructured domestic settings, affecting navigation, manipulation, vision, human robot interaction and planning.

SQUIRREL addresses these issues by actively controlling clutter and incrementally learning to extend the robot's capabilities while doing so. We term this the B3 (bit by bit) approach, as the robot tackles clutter one bit at a time and also extends its knowledge continuously as new bits of information become available.SQUIRREL is inspired by a user driven scenario, that exhibits all the rich complexity required to convincingly drive research, but allows tractable solutions with high potential for exploitation. We propose a toy cleaning scenario, where a robot learns to collect toys scattered in loose clumps or tangled heaps on the floor in a child's room, and to stow them in designated target locations.

We will advance science w.r.t. manipulation, where we will incrementally learn grasp affordances with a dexterous hand; segmenting and learning objects and object category models from a cluttered scene; localisation and navigation in a crowded and changing scene based on incrementally built 3D environment models; iterative task planning in an open world; and engaging with multiple users in a dynamic collaborative task.

Progress will be measured in scenarios of increasing complexity, starting with known object classes, via incremental learning of objects and grasp affordances to the full system with failure recovery and active control of clutter, instantiated on two different robot platforms.Systems will be evaluated at an end user site where children in nurseries teach the robot how to clean up, and will be exploited by an industrial partner with a strong market presence in advanced robotic toys, who will take up project outcomes to be integrated in their current line of developments.

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