The document summarizes an R&D project called ACROSS that aims to incorporate robotic services into social scenarios. The 27-month project has a budget of 6.2 million euros and involves a consortium of 13 organizations led by Treelogic. The objectives of ACROSS are to allow robots to anticipate user needs by improving communication and empathy between people and robots. It also aims to create intelligent systems that can self-reconfigure and modify behavior without human guidance.