The Flowers project-team, at Inria and Ensta ParisTech, studies mechanisms that can allow robots and humans to acquire autonomously and cumulatively repertoires of novel skills over extended periods of time. This includes mechanisms for learning by self-exploration, as well as learning through interaction with peers, for the acquisition of both sensorimotor and social skills. Sensorimotor skills include locomotion, affordance learning, active manipulation. Interactive skills include grounded language use and understanding, adaptive interaction protocols, and human-robot collaboration. Our project-team, headed by Pierre-Yves Oudeyer (Inria) and co-started with David Filliat (Ensta ParisTech Cognitive Robotics Group), focuses in particular on the study of developmental mechanisms that guide efficient open-ended learning of novel skills in large real world environments.