Opendata, web and dolomites

CLOTHILDE SIGNED

CLOTH manIpulation Learning from DEmonstrations

Total Cost €

0

EC-Contrib. €

0

Partnership

0

Views

0

 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.

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

Project "CLOTHILDE" data sheet

The following table provides information about the project.

Coordinator
AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS 

Organization address
address: CALLE SERRANO 117
city: MADRID
postcode: 28006
website: http://www.csic.es

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 http://www.clothilde-project.eu
 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

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    AGENCIA ESTATAL CONSEJO SUPERIOR DEINVESTIGACIONES CIENTIFICAS ES (MADRID) coordinator 2˙499˙149.00

Map

 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.

 Publications

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

Are you the coordinator (or a participant) of this project? Plaese send me more information about the "CLOTHILDE" 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 (fabio@fabiodisconzi.com) 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 "CLOTHILDE" are provided by the European Opendata Portal: CORDIS opendata.

More projects from the same programme (H2020-EU.1.1.)

CohoSing (2019)

Cohomology and Singularities

Read More  

MOCHA (2019)

Understanding and leveraging ‘moments of change’ for pro-environmental behaviour shifts

Read More  

SWIP (2019)

Extended short-wave infrared pulsed fibre laser

Read More