Opendata, web and dolomites


CLOTH manIpulation Learning from DEmonstrations

Total Cost €


EC-Contrib. €






 CLOTHILDE project word cloud

Explore the words cloud of the CLOTHILDE project. It provides you a very rough idea of what is the project "CLOTHILDE" about.

clothing    deformations    robots    first    human    subsequently    requests    advice    helping    dynamical    robotics    virtual    people    breakthrough    rendering    elastic    vast    reaching    upholstered    mattress    machine    lab    topological    unbearable    cover    desired    proven    inaccurate    efficient    outcomes    compact    car    ai    recognizing    autonomy    configuration    objects    fundamental    demonstration    broad    powerful    textile    guaranteed    clothes    cloth    skills    initial    degrees    obtain    dynamics    dress    plan    humans    prototype    despite    internet    computational    pervade    automation    possibilities    elderly    perception    topology    permit    robot    perceptions    predictive    safe    prototypes    theory    freedom    handed    tools    world    robotic    disabled    controller    manipulation    putting    probabilistic    envisaged    seat    planning    handling    combining    encoding    action    noisy    exist    pi    seem    learning    manufacturing    plus    occasional    refined    bimanual    deformable    folding    logistics    rigid    leads    model    hard    versatile    background    transformations    narrow    interaction    encoded    hospital    appropriate    elusive    environments    parameterised    housekeeping    business    actions   

Project "CLOTHILDE" data sheet

The following table provides information about the project.


Organization address
address: CALLE SERRANO 117
city: MADRID
postcode: 28006

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 Spain [ES]
 Project website
 Total cost 2˙499˙149 €
 EC max contribution 2˙499˙149 € (100%)
 Programme 1. H2020-EU.1.1. (EXCELLENT SCIENCE - European Research Council (ERC))
 Code Call ERC-2016-ADG
 Funding Scheme ERC-ADG
 Starting year 2018
 Duration (year-month-day) from 2018-01-01   to  2022-12-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 


 Project objective

Textile objects pervade human environments and their versatile manipulation by robots would open up a whole range of possibilities, from increasing the autonomy of elderly and disabled people, housekeeping and hospital logistics, to novel automation in the clothing internet business and upholstered product manufacturing. Although efficient procedures exist for the robotic handling of rigid objects and the virtual rendering of deformable objects, cloth manipulation in the real world has proven elusive, because the vast number of degrees of freedom involved in non-rigid deformations leads to unbearable uncertainties in perception and action outcomes.

This proposal aims at developing a theory of cloth manipulation and carrying it all the way down to prototype implementation in our Lab. By combining powerful recent tools from computational topology and machine learning, we plan to characterize the state of textile objects and their transformations under given actions in a compact operational way (i.e., encoding task-relevant topological changes), which would permit probabilistic planning of actions (first one handed, then bimanual) that ensure reaching a desired cloth configuration despite noisy perceptions and inaccurate actions.

In our approach, the robot will learn manipulation skills from an initial human demonstration, subsequently refined through reinforcement learning, plus occasional requests for user advice. The skills will be encoded as parameterised dynamical systems, and safe interaction with humans will be guaranteed by using a predictive controller based on a model of the robot dynamics. Prototypes will be developed for 3 envisaged applications: recognizing and folding clothes, putting an elastic cover on a mattress or a car seat, and helping elderly and disabled people to dress. The broad Robotics and AI background of the PI and the project narrow focus on clothing seem most appropriate to obtain a breakthrough in this hard fundamental research topic.


year authors and title journal last update
List of publications.
2019 Carme Torras
Assistive robotics: Research challenges and ethics education initiatives
published pages: 63-77, ISSN: 1989-7022, DOI:
DILEMATA: International Journal of Applied Ethics 30 2019-08-29
2018 Adria Colome, Carme Torras
Dimensionality Reduction in Learning Gaussian Mixture Models of Movement Primitives for Contextualized Action Selection and Adaptation
published pages: 3922-3929, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2857921
IEEE Robotics and Automation Letters 3/4 2019-06-06
2019 Fabio Amadio, Adria Colome, Carme Torras
Exploiting Symmetries in Reinforcement Learning of Bimanual Robotic Tasks
published pages: 1838-1845, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2898330
IEEE Robotics and Automation Letters 4/2 2019-06-06
2018 Adria Colome, Carme Torras
Dimensionality Reduction for Dynamic Movement Primitives and Application to Bimanual Manipulation of Clothes
published pages: 602-615, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2808924
IEEE Transactions on Robotics 34/3 2019-06-06
2019 Rishabh Jangir, Guillem Alenya, Carme Torras
Learning cloth manipulation with demonstrations
published pages: , ISSN: , DOI:
IRI Technical Reports 2019-06-06
2018 Carme Torras
Xarxes socials icompanyia robòtica: tecnologia, ètica, iciència-ficció
published pages: 47-53, ISSN: 2174-9221, DOI: 10.7203/metode.9.12479
Mètode Revista de difusió de la investigació 9 2019-06-06

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

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