CLOTHILDE 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.
CLOTHILDE has 5 different workpackages:
- Workpackage 1. Theory of cloth manipulation
- Workpackage 2. Cloth perception and representation
- Workpackage 3. Probabilistic task and motion planning
- Workpackage 4. Manipulation learning from demonstration
- Workpackage 5. Integration, prototype development and evaluation