Objectif Society is rapidly opening its doors to robots in our daily life with autonomous vehicles, rehabilitation devices and autonomous appliances. These robots will face unexpected changes in their environment, to which they will have to react immediately and appropriately. Even though robots exceed largely humans’ precision and speed of computation, they are far from matching humans’ capacity to adapt rapidly to unexpected changes. In the past decades, robotics has made leaps forward in the design of increasingly complex robotic platforms to meet these challenges. In this endeavour, it has benefited from advances in optimization for solving high-dimensional constrained problems and in machine learning (ML) to analyse vast amounts of data. These methods are powerful for planning in slow-paced tasks and when the environment is known. This project addresses a growing need for methods that show fast and on-line reactivity. We design controllers that can plan at run time and adapt to new environmental constraints. We offer a novel approach to robot learning that follows stages of skill acquisition in humans. To inform modelling, we conduct a longitudinal study of the acquisition of dexterous bimanual skills in craftsmanship. We study how humans exploit task uncertainty to overcome their sensory-motor noise, and how humans learn bimanual synergies to reduce the control variables. This study informs the design of novel learning strategies for robots that exploit failures as much as successes. We combine planning and ML to learn feasible control laws, retrievable at run time with no need for further optimization. We exploit properties of dynamical systems (DS), which have received little attention in robot control, and use ML to identify characteristics of DS, in ways that were not explored to date. The approach is assessed in live demonstrations of coordinated adaptation of a multi-arm/hand robotic system engaged in a fast-paced industrial task, in the presence of humans. Champ scientifique engineering and technologymechanical engineeringvehicle engineeringautomotive engineeringautonomous vehiclesmedical and health sciencesclinical medicinephysiotherapynatural sciencesmathematicsapplied mathematicsdynamical systemsengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringroboticsnatural sciencescomputer and information sciencesartificial intelligencemachine learning Mots‑clés Robot Learning Bimanual Coordination Programme(s) H2020-EU.1.1. - EXCELLENT SCIENCE - European Research Council (ERC) Main Programme Thème(s) ERC-2016-ADG - ERC Advanced Grant Appel à propositions ERC-2016-ADG Voir d’autres projets de cet appel Régime de financement ERC-ADG - Advanced Grant Institution d’accueil ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE Contribution nette de l'UE € 2 492 036,00 Adresse BATIMENT CE 3316 STATION 1 1015 Lausanne Suisse Voir sur la carte Région Schweiz/Suisse/Svizzera Région lémanique Vaud Type d’activité Higher or Secondary Education Establishments Liens Contacter l’organisation Opens in new window Site web Opens in new window Participation aux programmes de R&I de l'UE Opens in new window Réseau de collaboration HORIZON Opens in new window Coût total € 2 492 036,00 Bénéficiaires (1) Trier par ordre alphabétique Trier par contribution nette de l'UE Tout développer Tout réduire ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE Suisse Contribution nette de l'UE € 2 492 036,00 Adresse BATIMENT CE 3316 STATION 1 1015 Lausanne Voir sur la carte Région Schweiz/Suisse/Svizzera Région lémanique Vaud Type d’activité Higher or Secondary Education Establishments Liens Contacter l’organisation Opens in new window Site web Opens in new window Participation aux programmes de R&I de l'UE Opens in new window Réseau de collaboration HORIZON Opens in new window Coût total € 2 492 036,00