Research Project

CLOTHILDE: Cloth manipulation learning from demonstration

Type

European Project

Start Date

01/01/2018

End Date

31/12/2022

Project Code

ERC-2016-ADG-741930

Project illustration

Staff

Project Description

The project aim is to establish the foundations of versatile cloth manipulation by robots. The theoretical ground will be to link machine learning and computational topology methods, so as to come up with a theory of cloth deformation under manipulation leading to a general framework for robots to learn to manipulate garments from human demonstrations. Such framework will encompass: non-expert teaching of a task, robot perception and skill learning, task-oriented cloth representation, probabilistic planning, robot task execution in varying initial conditions, failure diagnosis and informed requests for human help.

This project has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No 741930)

Project Publications

Journal Publications

  • A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

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  • A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.

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Other Publications

  • C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.

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