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jobs [2014/04/15 15:48] – [Theses and Jobs] jworchjobs [2017/05/03 12:37] – gkazhoya
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 If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page. If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
-== Web-based knowledge visualizations (BA/HiWi) == 
  
-{{ :research:knowledge-visualization.png?200}}+== Lisp / CRAM support assistant (HiWi) ==
  
-The knowledge base visualization allows to display semantic environment maps, +Technical support for the group for Lisp and the CRAM framework. \\ 
-objects, human poses, trajectories and similar information stored in the +8-16 hours per week for up to 1 year (paid).
-robot's knowledge base. Its [[http://www.ros.org/wiki/mod_vis|current version]] +
-is written in Java and has grown old over the years. Recently, there has been +
-much progress in creating [[http://www.ros.org/wiki/interactive_markers|interactive +
-3D visualizations]] for ROS that can also be accessed with a +
-[[http://www.ros.org/wiki/wviz|web browser]]. This project is about creating +
-a web-based version of the visualization using these techniques.+
  
 Requirements: Requirements:
-  * Good programming skills +  * Good programming skills in Common Lisp 
-  * Experience with JavaScript development +  * Basic ROS knowledge
-  * Knowledge of Web technologies (HTML, XML, OWL)+
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+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:gayane_kazhoyan|Gayane Kazhoyan]]
  
-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) == 
  
-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: +== Integrating PR2 in the Unreal Game Engine Framework (BA)== 
-  * Programing skills (Java) + {{ :research:unreal_ros_pr2.png?200|}} 
-  * Experience with Web languages and datamining techniques is helpful +
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]] +Integrating the [[https://www.willowgarage.com/pages/pr2/overview|PR2]] robot with [[http://www.ros.org/|ROS]] support in the [[https://www.unrealengine.com|Unreal Engine 4]] Framework.
- +
- +
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== +
- +
-In the field of Machine Learning, numerical optimization techniques play a focal role. However, as models grow larger, traditional implementations on single-core CPUs suffer from sequential execution causing a severe slow-down. In this thesis, state-of-the-art GPU frameworks (e.g. CUDA) are to be investigated in order implement numerical optimizers that substantially profit from parallel execution.+
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good programming skills in C/C++ 
-  * Good programming skills in Python and C/C+++  * Basic physics/rendering engine knowledge 
 +  * Basic ROS knowledge 
 +  * UE4 basic tutorials
  
-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, which allow incremental learning, when new examples come in one-by-one.+== Realistic Grasping using Unreal Engine (BA/MA) ==
  
-Requirements: +{{  :teaching:gsoc:topic2_unreal.png?nolink&150|}}
-  * Experience in Machine Learning. +
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+The objective of the project is to implement var- 
 +ious human-like grasping approaches in a game developed using [[https://www.unrealengine.com/|Unreal Engine]]. 
  
 +The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting the table, cleaning the dishes etc. The interaction is done using various sensors to map the users hands onto the virtual hands in the game.
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== +In order to improve the ease of manipulating objects the user should 
- +be able to switch during runtime the type of grasp (pinch, power 
-In the context of the European research project RoboHow.Cog [1,2] we +grasp, precision grip etc.) he/she would like to use. 
-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.   +   
- +Requirements:  
-The Institute for Artificial Intelligence is hiring a student researcher for the +  * Good programming skills in C++ 
-development and the integration of probabilistic methods in AI, which enable intelligent robots to understand, interpret and execute natural-language instructions from recipes from the World Wide Web. +  * Good knowledge of the Unreal Engine API.  
- +  * Experience with skeletal control / animations / 3D models in Unreal Engine.
-This HiWi-Position can serve as a starting point for future Bachelor's, Master's or Diploma Theses. +
- +
-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: +
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +
-  * Basic skills in Artificial Intelligence +
-  * Optional: basic skills in Probability Theory +
-  * Optional: basic skills in Machine Learning +
-  * Good programming skills in Python and Java +
- +
-Hours: 10-20 h/week +
- +
-Contact: [[team:daniel_nyga|Daniel Nyga]] +
- +
-[1] www.robohow.eu\\ +
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA +
- +
-== HiWi position: Segmentation and interpretation of 3D object models (HiWi/MA) == +
- +
-{{ :research:cup2-segmented.png?170}} +
- +
-Competent object interaction requires knowledge about the structure and +
-composition of objects. In an ongoing research project, we are investigating +
-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. +
-In close collaboration with the researchers of the Institute for Artificial +
-Intelligence, the student will work on extending the software for mesh +
-segmentation, implement novel algorithms, improve the integration of the +
-methods into the robot's knowledge base, and update the modules for visualizing +
-the segmentation results. Depending on the results, cooperation on joint  +
-publications may be possible. +
- +
-This HiWi position can serve as a starting point for future Bachelor's, +
-Master's or Diploma Theses. Alternatively, we could extract a research +
-project that could be worked on as a Master's or Diploma Thesis. +
- +
-Requirements: +
-  * Good Java programming skills +
-  * Basic knowledge of 3D geometry calculations +
-  * Experience with working with 3D models is helpful+
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]] 
  
-== Depth-Adaptive Superpixels (BA/HiWi)==+Contact: [[team/andrei_haidu|Andrei Haidu]]
  
-We are currently investigating a new set of sensors (RGB-D-T), which is a combination of a kinect with a thermal image camera. Within this project we want to enhance the Depth-Adaptive Superpixels (DASP) to make use of the thermal sensor data. Depth-Adaptive Superpixels oversegment an image taking into account the depth value of each pixel. {{ :research:dt_dasp.png?200|}}+== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== 
 + {{ :research:gz_env1.png?200|}} 
  
-Since the current implementation of DASP is not very performant for high resolution images, there are several possibilities options for doing a project in this field like reimplementing DASP using the CUDA, investigating how thermal data can be integrated, ...+Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/|Gazebo]] robotic simulator. Creating a custom GUI for the game, in order to launch new scenarios, save logs etc.
  
 Requirements: Requirements:
-  * Basic knowledge of image processing +  * Good programming skills in C/C++ 
-  * Good programming skills in C/C++. +  * Basic physics/rendering engine knowledge 
-  * Experience with CUDA is helpful+  * Gazebo simulator basic tutorials
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
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