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jobs [2015/03/19 12:56] – [Theses and Jobs] balintbejobs [2016/02/24 13:16] – 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.
  
 +== Lisp / CRAM support assistant (HiWi) ==
  
- +Technical support for the group for Lisp and the CRAM framework. \\ 
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== +5 hours per week for up to 1 year (paid).
- +
-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 Common Lisp 
-  * Good programming skills in Python and C/C+++  * Basic ROS knowledge
  
-Contact: [[team:daniel_nyga|Daniel Nyga]]+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.
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
  
-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. 
  
-Requirements: +== Integrating PR2 in the Unreal Game Engine Framework (BA)== 
-  * Experience in Machine Learning. + {{ :research:unreal_ros_pr2.png?200|}} 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +
-  * Good programming skills in Python.+
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] +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.
- +
- +
-==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 is hiring a student researcher for the +
-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. +
- +
-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: Requirements:
-  * Studies in Computer Science (Bachelor's, Master's or Diploma) +  * Good programming skills in C/C++ 
-  * Basic skills in Artificial Intelligence +  * Basic physics/rendering engine knowledge 
-  * Optional: basic skills in Probability Theory +  * Basic ROS knowledge 
-  * Optional: basic skills in Machine Learning +  * UE4 basic tutorials
-  * 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+
  
 +Contact: [[team:andrei_haidu|Andrei Haidu]]
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)==+== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)==
  {{ :research:gz_env1.png?200|}}   {{ :research:gz_env1.png?200|}} 
  
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-== Automated sensor calibration toolkit (MA)==+== Automated sensor calibration toolkit (BA/MA)==
  
 Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information of the surrounding world. Each camera is different, even if they are from the same production line. For computer vision, especially for robots manipulating their environment, it is important that the parameters for the cameras in use are well known. The calibration of a camera is a time consuming task, and the result depends highly on the chosen setup and the accuracy of the operator. Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information of the surrounding world. Each camera is different, even if they are from the same production line. For computer vision, especially for robots manipulating their environment, it is important that the parameters for the cameras in use are well known. The calibration of a camera is a time consuming task, and the result depends highly on the chosen setup and the accuracy of the operator.
  
-The topic for this master thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.
  
-The system should be: + {{ :kinect2_calibration_setup_small.jpg?200|}} 
-  * independent of the camera type +The system should: 
-  * estimate intrinsics and extrinsics +  * be independent of the camera type 
-  * have depth calibration (case of RGBD)+  * estimate intrinsic and extrinsic parameters 
 +  * calibrate depth images (case of RGB-D)
   * integrate capabilities from Halcon [1]   * integrate capabilities from Halcon [1]
 +  * operate autonomously
  
 Requirements:  Requirements: 
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 [1] http://www.halcon.de/ [1] http://www.halcon.de/
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
  
 == On-the-fly 3D CAD model creation (MA)== == On-the-fly 3D CAD model creation (MA)==
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 Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
 +
  
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