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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
- | ====Theses==== | + | =====Open researcher positions===== |
+ | |||
+ | ====Digital Twin Knowledge Base for submarine robot inspection/ | ||
+ | The Institute for Artificial Intelligence (IAI) investigates methods for cognition-enabled robot control. The research is at the intersection of robotics and Artificial Intelligence and includes methods for intelligent perception, dexterous object manipulation, | ||
+ | |||
+ | As a researcher of the IAI, you actively research by applying and extending the elaborated methods and tools of the IAI (e.g., CRAM, KnowRoB, and openEASE) to the uncertainties of limited resources, computation, | ||
+ | |||
+ | **Prerequisites: | ||
+ | * Digital Twins | ||
+ | * Knowledge Representation | ||
+ | * Data structures | ||
+ | * Data Stream Representation. | ||
+ | |||
+ | **Hiring institution: | ||
+ | |||
+ | **PhD Enrollment: | ||
+ | |||
+ | The PhD examination acceptance requires a “Certificate of Equivalence for Foreign Vocational Qualifications”. More information available at [[https:// | ||
+ | |||
+ | **Duration of the project:** 36 months | ||
+ | |||
+ | **Main Academic Supervisor: | ||
+ | |||
+ | **Co-supervisors: | ||
+ | =====Theses | ||
+ | If you are looking for a bachelor/ | ||
- | == Web-based knowledge visualizations (BA/HiWi) == | ||
- | {{ : | + | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == |
- | The knowledge base visualization allows to display semantic environment maps, | + | Implementing physics-based grasping models |
- | objects, human poses, trajectories and similar information stored | + | using Manus VR. |
- | robot' | + | |
- | is written in Java and has grown old over the years. Recently, there has been | + | |
- | much progress in creating [[http:// | + | |
- | 3D visualizations]] for ROS that can also be accessed with a | + | |
- | [[http:// | + | |
- | a web-based version of the visualization | + | |
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good C++ programming skills |
- | * Experience with JavaScript development | + | * Familiar with skeletal animations |
- | * Knowledge of Web technologies | + | * Experience with simulators/ |
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team:moritz_tenorth|Moritz Tenorth]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Statistical relational models of human activities (MA) == | ||
- | As part of the [[http:// | + | < |
- | the analysis of observations of Apraxia patients. After suffering brain damage, | + | == Lisp / CRAM support assistant (HiWi) == |
- | these patients lack important motor coordination skills that result in various | + | |
- | kinds of errors in performing everyday activities. Based on data from the | + | Technical support for the group for Lisp and the CRAM framework. \\ |
- | extensive patient trials, the student is to learn statistical relational | + | 8+ hours per week for up to 1 year (paid). |
- | models that characterize which errors are made in which circumstances. | + | |
Requirements: | Requirements: | ||
- | * Good knowledge of machine learning (Bayesian networks, statistical relational models) | + | * Good programming skills in Common Lisp |
- | * Programming skills (Java) | + | * Basic ROS knowledge |
- | Contact: [[team: | + | The student will be introduced to the CRAM framework at the beginning of the job, which is a robot programming framework written in Lisp. The student will then be responsible for assisting not familiar with the framework people, explaining them the parts they don't understand and pointing them to the relevant documentation sources. |
+ | Contact: [[team: | ||
+ | --></ | ||
- | == Tools for knowledge acquisition from the Web (BA/MA/HiWi) == | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
- | There are several options for doing a project related to the acquisition of | + | |
- | knowledge from Web sources like online shops, repositories of object models, | + | |
- | recipe databases, etc. | + | |
Requirements: | Requirements: | ||
- | * Programing skills (Java) | + | * Good knowledge in 3D Modeling |
- | * Experience | + | * Familiar |
- | * Depending on the focus of the project, experience with database technology, natural-language processing | + | |
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/ | ||
- | In the field of Machine Learning, numerical optimization techniques play a focal role. However, as models | + | == 3D Animation and Modeling (Student Job / HiWi)== |
+ | {{ : | ||
+ | |||
+ | Developing and improving existing or new 3D (static/ | ||
+ | models | ||
+ | models against Unreal Engine. | ||
+ | |||
+ | Bonus: Working with state of the art 3D Scanners [[https:// | ||
Requirements: | Requirements: | ||
- | * Skills in numerical optimization algorithms | + | * Experience with Blender / Maya (or other) |
- | * Good programming skills in Python and C/C++ | + | * Knowledge of Unreal Engine material |
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | </ | ||
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)== | ||
- | Markov Logic Networks (MLNs) combine the expressive power of first-order logic and probabilistic graphical models. In the past, they have been successfully applied to the problem of semantically interpreting and completing natural-language instructions from the web. State-of-the-art learning techniques mostly operate in batch mode, i.e. all training instances need to be known in the beginning of the learning process. In context of this thesis, online learning methods for MLNs are to be investigated, | + | < |
+ | == Integrating PR2 in the Unreal Game Engine Framework (BA/ | ||
+ | {{ : | ||
+ | |||
+ | Integrating | ||
Requirements: | Requirements: | ||
- | * Experience | + | * Good programming skills |
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | + | * Basic physics/ |
- | * Good programming skills in Python. | + | * Basic ROS knowledge |
+ | * UE4 basic tutorials | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | < | + | == Realistic Grasping using Unreal Engine (BA/MA/HiWi) == |
- | ====Open Positions==== | + | |
- | ==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== | + | |
- | In the context of the European research project RoboHow.Cog [1,2] we | + | {{ : |
- | are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer games), in order to enable mobile robots to autonomously acquire new high level skills like cooking meals or straightening up rooms. | + | |
- | The Institute for Artificial Intelligence | + | The objective of the project |
- | development and the integration of probabilistic methods | + | ious human-like grasping approaches |
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | The game consist of a household environment where a user has to execute various given tasks, such as cooking |
+ | |||
+ | In order to improve the ease of manipulating objects the user should | ||
+ | be able to switch during runtime the type of grasp (pinch, power | ||
+ | grasp, precision grip etc.) he/she would like to use. | ||
+ | |||
+ | Requirements: | ||
+ | * Good programming skills in C++ | ||
+ | * Good knowledge of the Unreal Engine API. | ||
+ | * Experience with skeletal control / animations / 3D models in Unreal Engine. | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | |||
+ | Contact: [[team/ | ||
+ | --></ | ||
+ | |||
+ | < | ||
+ | == Unreal Engine Editor Developer (Student Job / HiWi)== | ||
+ | {{ : | ||
+ | |||
+ | Creating new user interfaces (panel customization) for various internal plugins using the Unreal C++ framework [[https:// | ||
- | Tasks: | ||
- | * Implementation of an interface to the Robot Operating System (ROS). | ||
- | * Linkage of the knowledge base to the executive of the robot. | ||
- | * Support for the scientific staff in extending and integrating components onto the robot platform PR2. | ||
Requirements: | Requirements: | ||
- | * Studies in Computer Science (Bachelor' | + | * Good C++ programming skills |
- | * Basic skills in Artificial Intelligence | + | * Familiar with the [[https:// |
- | * Optional: basic skills in Probability Theory | + | * Familiar with Unreal Engine API |
- | * Optional: basic skills in Machine Learning | + | * Familiar with version-control systems (git) |
- | * Good programming skills in Python and Java | + | * Able to work independently with minimal supervision |
- | Hours: 10-20 h/week | + | Contact: [[team: |
- | Contact: [[team: | ||
- | [1] www.robohow.eu\\ | ||
- | [2] http:// | ||
- | == HiWi position: Segmentation and interpretation of 3D object models | + | == OpenEASE rendering in Unreal Engine |
- | {{ : | ||
- | Competent object interaction requires knowledge about the structure and | + | Implmenting |
- | composition | + | |
- | how part-based object models can automatically be extracted from CAD models | + | |
- | found on the Web, e.g. on the [[http://sketchup.google.com/3dwarehouse|3D warehouse]]. | + | |
- | We are looking for a student research assistant to push this topic forward. | + | Requirements: |
- | In close collaboration | + | * Good C++ programming skills |
- | Intelligence, | + | * Familiar |
- | segmentation, | + | * Familiar with HTML5 and JavaScript |
- | methods into the robot' | + | * Familiar with the [[https:// |
- | the segmentation results. Depending on the results, cooperation on joint | + | * Familiar with basic ROS communication |
- | publications may be possible. | + | * Familiar with version-control systems (git) |
+ | * Able to work independently with minimal supervision | ||
- | This HiWi position can serve as a starting point for future Bachelor' | + | Contact: [[team: |
- | Master' | + | |
- | project that could be worked | + | < |
+ | == Knowledge-enabled PID Controller | ||
+ | |||
+ | Implementing a force-, velocity- and impulse-based PID controller for precise and responsive hand movements in a virtual environment. The virtual environment used in Unreal Engine in combination with Virtual Reality devices. The movements | ||
+ | of the human user will be mapped to the virtual hands, and controlled via the implemented PID controllers. | ||
+ | The controller should be able to dynamically tune itself depending | ||
Requirements: | Requirements: | ||
- | * Good Java programming skills | + | * Good C++ programming skills |
- | * Basic knowledge of 3D geometry calculations | + | * Familiar with PID controllers and control theory |
- | * Experience with working | + | * Experience with simulators/ |
+ | * Familiar | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | == Sprachgesteuertes Leitsystem (BA Thesis) == | ||
+ | |||
+ | Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen. | ||
+ | Dabei wird auf bestehende Apps aufgebaut. | ||
+ | |||
+ | Aufgaben: | ||
+ | * App Entwicklung mit der Unity game engine und Flutter | ||
+ | * Erweiterung der Sprachsteuerung | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Sprachauswahl für Shopping Assistenten (BA Thesis) == | ||
+ | |||
+ | Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen in der gewünschten Sprache. | ||
+ | Dabei wird auf bestehende Apps aufgebaut. | ||
+ | |||
+ | Aufgaben: | ||
+ | * App Entwicklung mit der Unity game engine und Flutter | ||
+ | * Erweiterung der App um eine Sprachauswahl | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Situational awareness in kitchen environments (MA Thesis) == | ||
+ | |||
+ | This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework in order to include situational awareness so that a robot acting in a household environment can infer what an object is used for in a given situation. | ||
+ | |||
+ | A result would be that a spoon next to a bowl with cereal would be used for eating while a spoon on a stove next to a pot would be used for stirring. | ||
+ | |||
+ | requirements: | ||
+ | * Work with KnowRob knowledge processing framework | ||
+ | * Work with knowledge graphs and Linked Data to create a situational awareness knowledge graph that can be linked to KnowRob | ||
+ | * Implement reasoning about situations (based on perceived environment) and object use | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | |||
+ | == Development of Modules for Robot Perception and Game Engine Technology (Hiwi Job) == | ||
+ | A recent development in the field of AI is the usage of photorealistic simulations, | ||
+ | In our research group, we focus on the development of modern robots that can make use of the potential of game engines. One particular research direction, is the combination of computer vision with game engines. | ||
+ | In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: | ||
+ | * Modelling of objects for the use in Unreal Engine 4. | ||
+ | * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects. | ||
+ | * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) | ||
+ | * Software development for our Robot Perception framework [[http:// | ||
- | Contact: [[team:moritz_tenorth|Moritz Tenorth]] | + | Contact: [[team:patrick_mania|Patrick Mania]] |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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