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.

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

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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