Description Overcoming knowledge gaps through proactive communication with humans The inability to cope with abstract commands confines today’s robots to very constrained, well-controlled environments. To overcome these limitations, a-priori knowledge is required. However, as objectives and situations may radically change over time there will always be knowledge gaps. Humans are a rich source of information to be utilized so that robots can improve their adaptability and cope with new situations as they arise. The IURO project explores the integration of information retrieval from humans into robot control architectures to complement their perception and action control capabilities. IURO follows a multi-disciplinary approach combining environment perception, communication, navigation, knowledge representation and assessment, and human factors studies as well as a novel robot platform for human-centred urban environments as a pre-industrial development.