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- | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
+ | =====Open researcher positions===== | ||
+ | We currently don't have any open positions for researchers. | ||
+ | =====Theses and Student Jobs===== | ||
+ | If you are looking for a bachelor/ | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/ | ||
- | 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 | + | < |
+ | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == | ||
- | Requirements: | + | Implementing physics-based grasping |
- | * Skills in numerical optimization algorithms | + | using Manus VR. |
- | * Good programming skills in Python and C/C++ | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == 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 | + | |
Requirements: | Requirements: | ||
- | * Experience in Machine Learning. | + | * Good C++ programming skills |
- | * Experience with statistical relational learning | + | * Familiar with skeletal animations |
- | * Good programming skills in Python. | + | * Experience with simulators/ |
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | --></ | ||
- | ==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== | + | < |
+ | == Lisp / CRAM support assistant (HiWi) == | ||
- | In the context of the European research project RoboHow.Cog [1,2] we | + | Technical support for the group for Lisp and the CRAM framework. \\ |
- | are investigating methods | + | 8+ hours per week for up to 1 year (paid). |
- | + | ||
- | The Institute for Artificial Intelligence is hiring a student researcher for the | + | |
- | development | + | |
- | + | ||
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | |
- | + | ||
- | Tasks: | + | |
- | * Implementation of an interface | + | |
- | * 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 | + | * Good programming skills |
- | * Basic skills in Artificial Intelligence | + | * Basic ROS knowledge |
- | * Optional: basic skills in Probability Theory | + | |
- | * Optional: basic skills in Machine Learning | + | |
- | * Good programming skills in Python and Java | + | |
- | Hours: 10-20 h/week | + | 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:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] |
+ | --></ | ||
- | [1] www.robohow.eu\\ | + | < |
- | [2] http://www.youtube.com/watch?v=0eIryyzlRwA | + | == Mesh Editing |
+ | {{ : | ||
+ | | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator | + | Requirements: |
- | {{ : | + | * Good knowledge |
+ | * Familiar with Blender / Maya (or other) | ||
- | Developing new activities and improving the current simulation framework done under the [[http:// | + | Contact: |
+ | --></ | ||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * Basic physics/ | ||
- | * Gazebo simulator basic tutorials | ||
- | Contact: [[team:andrei_haidu|Andrei Haidu]] | + | < |
+ | == 3D Animation and Modeling (Student Job / HiWi)== | ||
+ | | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | + | Developing and improving existing or new 3D (static/skeletal) |
- | {{ : | + | models in Blender / Maya (or other). Further importing and testing the |
+ | models against Unreal Engine. | ||
- | Integrating the eye tracker in the [[http://gazebosim.org/|Gazebo]] based Kitchen Activity Games framework and logging the gaze of the user during the gameplay. From the information typical activities should be inferred. | + | Bonus: Working with state of the art 3D Scanners |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Gazebo simulator basic tutorials | + | * Knowledge of Unreal Engine material / lightning development |
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices | + | == Representing knowledge in a robot-agnostic ontology system for assistive robotics |
- | {{ : | + | |
- | Improving the skeletal tracking offered by the [[https:// | + | The thesis will be jointly supervised |
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | Summary: |
+ | * Investigate about existing ontologies, like the Socio-physical Model of Activities (SOMA) from the University of Bremen. | ||
+ | * Refactor an existing knowledge database (known | ||
+ | * Use the ontology to design tasks in the assistive robotics domain using assistive robots provided by the DLR | ||
- | Requirements: | + | Full offer: |
- | * Good programming skills in C/C++ | + | |
- | Contact: [[team:andrei_haidu|Andrei Haidu]] | + | {{ :teaching:offer_2020-01_op2_wedanjustin.pdf |
- | == Fluid Simulation in Gazebo (BA/MA)== | + | Contact: [[team:daniel_bessler|Daniel Beßler]] |
- | | + | |
- | [[http:// | + | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == |
- | Currently there is an [[http:// | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
+ | The system should be able to generate | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | The focus of the thesis would be two-fold: |
- | and should | + | * 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 | ||
- | 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). | ||
- | |||
- | Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http:// | ||
- | |||
- | Here is a [[https:// | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Knowledge about sensor data processing |
- | * Interest in Fluid simulation | + | * Interest in model construction from sensory data |
- | * Basic physics/ | + | * Work with KnowRob |
- | * Gazebo simulator and Fluidix basic tutorials | + | |
- | Contact: [[team: | ||
+ | Contact: [[team: | ||
- | == Automated sensor calibration toolkit | + | < |
+ | == Development of Modules for Robot Perception | ||
+ | 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: | ||
+ | * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) | ||
+ | * Software development for our Robot Perception framework [[http:// | ||
- | Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information | + | Requirements: |
+ | * Experience in C++. | ||
+ | * Basic understanding | ||
+ | The spoken language | ||
- | The topic for this master thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | Contact: [[team: |
+ | --></ | ||
- | The system should be: | + | == Game Engine Developer |
- | * independent of the camera type | + | A recent development in the field of AI is the usage of photorealistic simulations, |
- | * estimate intrinsics | + | In our research group, we focus on the development of modern robots that can make use of the potential of game engines. This requires a high degree of specialized game engine plugins that can simulate certain aspects of our research. Another important task is the creation of 3d models. |
- | * have depth calibration | + | |
- | | + | |
- | 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. |
- | * ROS, OpenCV | + | * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects. |
- | [1] http:// | + | Requirements: |
- | + | * Knowledge | |
- | Contact: [[team: | + | * Experience |
- | + | ||
- | == On-the-fly 3D CAD model creation (MA)== | + | |
- | + | ||
- | 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: | + | |
- | * Good programming skills in C/C++ | + | |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == Simulation | + | |
- | + | ||
- | 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: | + | |
- | * Good programming skills | + | |
- | * strong background in computer vision | + | |
- | * Gazebo, OpenCV, PCL | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == Multi-expert segmentation of cluttered and occluded scenes == | + | |
- | + | ||
- | 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 | + | |
- | + | ||
- | Requirements: | + | |
- | * Good programming skills in C/C++ | + | |
- | * strong background in 3D vision | + | |
- | * basic knowledge of ROS, OpenCV, PCL | + | |
- | 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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