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- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
+ | =====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, | ||
- | == GPU-based Parallelization | + | As a researcher |
- | 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. | + | **Prerequisites: |
+ | * Digital Twins | ||
+ | * Knowledge Representation | ||
+ | * Data structures | ||
+ | * Data Stream Representation. | ||
- | Requirements: | + | **Hiring institution:** University of Bremen |
- | | + | |
- | | + | |
- | Contact: [[team: | + | **PhD Enrollment:** PhD position in the Institute for Artificial Intelligence at University of Bremen. The project involves collaboration with ROSEN in Bremen and UiO in Oslo. |
- | == Online Learning | + | The PhD examination acceptance requires a “Certificate |
- | 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, | + | **Duration |
- | Requirements: | + | **Main Academic Supervisor:** Prof. Michael Beetz, contact: beetz@cs.uni-bremen.de |
- | | + | |
- | | + | |
- | * Good programming skills in Python. | + | |
- | Contact: [[team: | + | **Co-supervisors:** prof. Einar Broch Johnsen (UiO, Norway), dr. Peter Kampmann (ROSEN, Germany) |
+ | =====Theses and Student Jobs===== | ||
+ | If you are looking for a bachelor/ | ||
- | ==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== | + | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == |
- | In the context of the European research project RoboHow.Cog [1,2] we | + | Implementing physics-based grasping models in virtual environments, |
- | 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. | + | using Manus VR. |
- | The Institute for Artificial Intelligence is hiring a student researcher for the | + | Requirements: |
- | 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 C++ programming skills |
+ | * Familiar with skeletal animations | ||
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * 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: |
- | 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' | ||
- | * 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 | + | < |
+ | == Lisp / CRAM support assistant (HiWi) == | ||
- | Contact: [[team: | + | Technical support for the group for Lisp and the CRAM framework. \\ |
+ | 8+ hours per week for up to 1 year (paid). | ||
- | [1] www.robohow.eu\\ | + | Requirements: |
- | [2] http:// | + | * Good programming skills in Common Lisp |
+ | * Basic ROS knowledge | ||
+ | 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. | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | + | Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] |
- | | + | --></ |
- | Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/|Gazebo]] robotic simulator. Creating | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
+ | |||
+ | | ||
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good knowledge |
- | * Basic physics/rendering engine knowledge | + | * Familiar with Blender |
- | * Gazebo simulator basic tutorials | + | |
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | ||
- | {{ : | ||
- | Integrating the eye tracker in the [[http:// | ||
- | Requirements: | + | == 3D Animation and Modeling (Student Job / HiWi)== |
- | * Good programming skills in C/C++ | + | {{ : |
- | * Gazebo simulator basic tutorials | + | |
- | Contact: [[team: | + | Developing and improving existing or new 3D (static/ |
+ | models in Blender / Maya (or other). Further importing and testing the | ||
+ | models against Unreal Engine. | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | + | Bonus: Working with state of the art 3D Scanners |
- | | + | |
- | + | ||
- | Improving the skeletal tracking offered by the [[https://developer.leapmotion.com/|Leap Motion SDK]], by using two devices (one tracking vertically the other horizontally) and switching between them to the one that has the best current view of the hand. | + | |
- | + | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
+ | * Knowledge of Unreal Engine material / lightning development | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | [[http:// | + | == App zur Generierung von Ernährungsempfehlungen |
- | Currently there is an [[http:// | + | Dies ist ein Wissensrepräsentations-Thema. Basierend auf einem bestehenden Wissensgraphen mit Produktinformationen sollen weitere ernährungsspezifische Informationen wie z.B. Substitute für Rezeptzutaten oder Rezepte für spezielle Ernährungsgewohnheiten generiert werden. Diese Informationen müssen aus bestehenden web-Quellen extrahiert und mit dem Wissensgraphen verknüpft werden. Die Informationen sollen dann in einer Smartphone-App (Android) visualisiert werden. Dabei kann auf bestehenden Apps aufgebaut werden. |
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | Aufgaben: |
- | and should be implemented (PCISPH/IISPH). | + | * Arbeit mit Wissensrepräsentation und Wissensgraphen |
+ | * Wissensakquisition aus web-Quellen | ||
+ | * App Entwicklung mit der Unity game engine und/oder Flutter | ||
- | The interaction between the fluid and the rigid objects is a naive one, the forces and torques are applied only from the particle collisions (not taking into account pressure and other forces). | + | Contact: [[team: |
- | Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http:// | + | == Sprachauswahl für Shopping Assistenten (BA Thesis) == |
- | Here is a [[https:// | + | Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen |
+ | Dabei wird auf bestehenden Apps aufgebaut. | ||
- | Requirements: | + | Aufgaben: |
- | * Good programming skills in C/C++ | + | * App Entwicklung mit der Unity game engine und Flutter |
- | * Interest in Fluid simulation | + | * Erweiterung der App um eine Sprachauswahl |
- | * Basic physics/ | + | * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung |
- | * Gazebo simulator and Fluidix basic tutorials | + | |
- | Contact: [[team: | ||
+ | Contact: [[team: | ||
- | == Automated sensor calibration toolkit | + | == Situational awareness in kitchen environments |
- | Computer vision | + | 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 |
- | The topic for this master thesis is to develop an automated system | + | 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. |
- | The system should be: | + | requirements: |
- | * independent of the camera type | + | * Work with KnowRob knowledge processing framework |
- | * estimate intrinsics | + | * Work with knowledge graphs |
- | * have depth calibration | + | * Implement reasoning about situations |
- | * integrate capabilities from Halcon [1] | + | |
- | Requirements: | ||
- | * Good programming skills in Python and C/C++ | ||
- | * ROS, OpenCV | ||
- | [1] http:// | + | Contact: |
+ | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == | ||
- | Contact: [[team: | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
+ | The system should be able to generate the necessary models required for re-detecting it again and also consult online information sources to automatically acquire knowledge about it. | ||
- | == On-the-fly 3D CAD model creation (MA)== | + | The focus of the thesis would be two-fold: |
+ | * Develop methods to automatically infer the object class of new objects. This would include perceiving it with state of the art sensors, constructing a 3d model of it and then infer the object class from online information sources. | ||
+ | * In the second step the system should also infer factual knowledge about the object from the internet and assert it into a robotic knowledgebase. Such knowledge could for example include the category of this product, typical object properties like its weight or typical location and much more. | ||
- | Create models during runtime for unknown textured objets based on depth and color information. Track the object and update the model with more detailed information, | ||
- | Requirements: | + | Requirements: |
- | * Good programming skills in C/C++ | + | * Knowledge about sensor data processing |
- | * strong background | + | * Interest |
- | * ROS, OpenCV, PCL | + | * Work with KnowRob knowledge processing framework |
- | Contact: [[team: | ||
- | == Simulation of a robots belief state to support perception(MA) == | + | Contact: [[team: |
- | Create a simulation environment that represents the robots current belief state and can be updated frequently. Use off-screen rendering to investigate the affordances these objects possess, in order to support segmentation, | ||
- | Requirements: | + | == Development of Modules for Robot Perception (Hiwi Job) == |
- | * Good programming skills in C/C++ | + | 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. |
- | * strong background in computer vision | + | In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: |
- | * Gazebo, OpenCV, PCL | + | * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly |
+ | * Software development for our Robot Perception framework [[http:// | ||
- | Contact: [[team: | + | Requirements: |
+ | * Experience in C++. | ||
+ | * Basic understanding of the ROS middleware. | ||
+ | The spoken language in this job is german or english, based on your preference. | ||
- | == Multi-expert segmentation of cluttered and occluded scenes == | + | Contact: [[team: |
- | Objects in a human environment are usually found in challenging scenes. They can be stacked upon eachother, touching or occluding, can be found in drawers, cupboards, refrigerators | + | == Game Engine Developer |
+ | A recent development | ||
+ | In our research group, we focus on the development of modern robots that can make use of the potential of game engines. This requires | ||
- | Requirements: | + | Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: |
- | * Good programming skills | + | * Modelling of objects for the use in Unreal Engine 4. |
- | * strong background | + | * Creation of specific simulation aspects |
- | * basic knowledge | + | |
+ | Requirements: | ||
+ | * Knowledge | ||
+ | * Experience in Game Engine development. Ideally Unreal Engine 4 and C++. | ||
- | Contact: [[team: | + | The spoken language in this job is german or english, based on your preference. |
+ | Contact: [[team: |
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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