Opendata, web and dolomites


LEArning-CONtrol tight interaction: a novel approach to robust execution of mobile manipulation tasks

Total Cost €


EC-Contrib. €






Project "LEACON" data sheet

The following table provides information about the project.


Organization address
address: Arcisstrasse 21
postcode: 80333

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Germany [DE]
 Project website
 Total cost 159˙460 €
 EC max contribution 159˙460 € (100%)
 Programme 1. H2020-EU.1.3.2. (Nurturing excellence by means of cross-border and cross-sector mobility)
 Code Call H2020-MSCA-IF-2014
 Funding Scheme MSCA-IF-EF-ST
 Starting year 2016
 Duration (year-month-day) from 2016-03-07   to  2018-03-06


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 


 Project objective

One of the main challenges of roboticists is to take robots out of the factories and let them enter into unstructured environments, such as houses, hospitals, small manufacturers and dangerous area. The objective of the project is to take a step towards the presence of robots in such environments. Currently, there are still important obstacles to the massive diffusion of advanced mobile manipulation systems in the fields described above. First of all, programming mobile manipulators with the classical methods is still too expensive and time-consuming due to intrinsic complexity of mobile manipulation tasks. A second limitation is that planning the robot motion completely off-line, as often happens in classical industrial applications, may likely bring to a failure of the assigned task, since a high degree of uncertainty is present and the environment can dynamically change. Such features may cause safety issues for humans potentially present in the workspace and for the external environment itself. In order to tackle these limitations, the LEACON project has the objective to develop a framework that: - allows robots to learn in a real world scenario manipulation skills from human demonstration -exploits multimodal perception (tactile, proximity, visual, force sensors) to increase the robustness to unforeseen events and safety when manipulation tasks are executed. To fulfill such objectives, a multidisciplinary approach that combines machine learning and perception-based control is proposed. The core of the proposed framework will provide two planning levels tightly connected: the high-level and low-level cognitive system. To show the effectiveness of the developed architecture, the main use cases will be constituted by a robot that performs picking, manipulation, and placing operations in a dynamic, unstructured environment in presence of humans in its workspace. At the end of the project, the developed software will be released as open source code.


year authors and title journal last update
List of publications.
2017 Pietro Falco, Matteo Saveriano, Eka Gibran Hasany, Nicholas H. Kirk, Dongheui Lee
A Human Action Descriptor Based on Motion Coordination
published pages: 811-818, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2652494
IEEE Robotics and Automation Letters 2/2 2019-06-17
2017 M. Saveriano, Y. Yin, P. Falco, D. Lee
Data-Efficient Control Policy Search using Residual Dynamics Learning
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems (IROS) 2019-06-17
2018 Pietro Falco, Matteo Saveriano, Dharmil Shah, Dongheui Lee
Representing human motion with FADE and U-FADE: an efficient frequency-domain approach
published pages: , ISSN: 0929-5593, DOI: 10.1007/s10514-018-9722-9
Autonomous Robots 2019-06-17
2018 Fanny Ficuciello, Pietro Falco, Sylvain Calinon
A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control
published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2818933
IEEE Robotics and Automation Letters 2019-06-17
2018 Pietro Falco, Abdallah Attawia, Matteo Saveriano, Dongheui Lee
On Policy Learning Robust to Irreversible Events: an Application to Robotic In-Hand Manipulation
published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2800110
IEEE Robotics and Automation Letters 2019-06-17

Are you the coordinator (or a participant) of this project? Plaese send me more information about the "LEACON" project.

For instance: the website url (it has not provided by EU-opendata yet), the logo, a more detailed description of the project (in plain text as a rtf file or a word file), some pictures (as picture files, not embedded into any word file), twitter account, linkedin page, etc.

Send me an  email ( and I put them in your project's page as son as possible.

Thanks. And then put a link of this page into your project's website.

The information about "LEACON" are provided by the European Opendata Portal: CORDIS opendata.

More projects from the same programme (H2020-EU.1.3.2.)

MIGPSC (2018)

Shaping the European Migration Policy: the role of the security industry

Read More  

PNAIC (2018)

Positive and Negative Asymmetry in Intergroup Contact: Its Impact on Linguistic Forms of Communication and Physiological Responses

Read More  

MathematicsAnalogies (2019)

Mathematics Analogies

Read More