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jobs [2015/06/19 12:58] – winkler | jobs [2023/01/28 08:17] – [Theses and Student Jobs] kording | ||
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- | ~~NOTOC~~ | + | |
- | =====Theses and Jobs===== | + | =====Open researcher positions===== |
+ | |||
+ | We currently don't have any open positions for researchers. | ||
+ | =====Theses and Student | ||
If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
+ | < | ||
+ | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == | ||
- | == HiWi-Position: Testing and Extension of Automated Experiment Environments for Robot Plans== | + | Implementing physics-based grasping models |
- | + | using Manus VR. | |
- | When dealing with real-world robot tasks, simulation that is close to reality is key to test behavior-driven, | + | |
Requirements: | Requirements: | ||
- | * Experience | + | |
- | * Passion for Robotics | + | * Familiar with skeletal animations |
- | * Ideally programming skills in Lisp, Prolog, and Java | + | |
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
- | Contact: [[team:jan_winkler|Jan Winkler]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | --></ | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== | + | < |
+ | == Lisp / CRAM support assistant (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 | + | Technical support for the group for Lisp and the CRAM framework. \\ |
+ | 8+ hours per week for up to 1 year (paid). | ||
Requirements: | Requirements: | ||
- | * Skills | + | * Good programming skills |
- | * Good programming skills in Python and C/C++ | + | * 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. |
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)== | + | Contact: [[team: |
+ | --></ | ||
- | Markov Logic Networks | + | < |
+ | == Mesh Editing / Mesh Segmentation/ | ||
+ | {{ : | ||
- | Requirements: | + | Editing and cutting a human mesh into different parts in Blender / Maya (or other). |
- | * Experience | + | |
- | * Experience with statistical relational learning | + | |
- | * Good programming skills in Python. | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | + | ||
- | ==HiWi-Position: | + | |
- | + | ||
- | 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 | + | |
- | + | ||
- | 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' | + | |
- | + | ||
- | 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 | + | * Good knowledge |
- | * Basic skills in Artificial Intelligence | + | * Familiar with Blender / Maya (or other) |
- | * 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/ |
+ | --></html> | ||
- | Contact: [[team: | ||
- | [1] www.robohow.eu\\ | + | < |
- | [2] http://www.youtube.com/ | + | == 3D Animation and Modeling (Student Job / HiWi)== |
+ | {{ : | ||
+ | Developing and improving existing or new 3D (static/ | ||
+ | models in Blender / Maya (or other). Further importing and testing the | ||
+ | models against Unreal Engine. | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | + | Bonus: Working with state of the art 3D Scanners |
- | | + | |
- | + | ||
- | 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 | + | |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Basic physics/rendering engine knowledge | + | * Knowledge of Unreal Engine material |
- | * Gazebo simulator basic tutorials | + | * Familiar with version-control systems (git) |
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Integrating Eye Tracking | + | == Representing knowledge |
- | {{ : | + | |
- | Integrating the eye tracker | + | The thesis will be jointly supervised by German Aerospace Center (DLR) in Munich |
- | Requirements: | + | Summary: |
- | * Good programming skills in C/C++ | + | * Investigate about existing ontologies, like the Socio-physical Model of Activities (SOMA) from the University of Bremen. |
- | * Gazebo simulator basic tutorials | + | * Refactor an existing knowledge database (known as the Object DataBase, ODB) used by the DLR into an ontology. |
+ | * Use the ontology to design tasks in the assistive robotics domain using assistive robots provided by the DLR | ||
- | Contact: [[team: | + | Full offer: |
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | + | {{ :teaching:offer_2020-01_op2_wedanjustin.pdf |}} |
- | {{ :research:leap_motion.jpg?200|}} | + | |
- | Improving the skeletal tracking offered by the [[https:// | + | Contact: |
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == |
- | Requirements: | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
- | * Good programming skills in C/C++ | + | 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. |
- | Contact: [[team: | + | 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. | ||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | [[http:// | + | Requirements: |
+ | * Knowledge about sensor data processing | ||
+ | * Interest | ||
+ | * Work with KnowRob knowledge processing framework | ||
- | Currently there is an [[http:// | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | Contact: [[team: |
- | and should be implemented (PCISPH/ | + | |
- | The interaction between the fluid and the rigid objects is a naive one, the forces and torques are applied only from the particle collisions | + | < |
- | + | == Development of Modules for Robot Perception | |
- | Another topic would be the visualization | + | 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: | |
- | Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. | + | * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) |
+ | * Software development for our Robot Perception framework | ||
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Experience |
- | * Interest in Fluid simulation | + | * Basic understanding of the ROS middleware and Linux. |
- | * Basic physics/ | + | The spoken language in this job is german or english, based on your preference. |
- | * Gazebo simulator and Fluidix basic tutorials | + | |
- | Contact: [[team:andrei_haidu|Andrei Haidu]] | + | Contact: [[team:patrick_mania|Patrick Mania]] |
+ | --></ | ||
+ | == Game Engine Developer and 3D-Modelling | ||
+ | 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. 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. | ||
- | == Automated sensor calibration toolkit (BA/MA)== | + | Therefore, we are currently offering multiple Hiwi positions |
+ | * 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. | ||
- | 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, | + | Requirements: |
- | + | * Knowledge | |
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | * Experience |
- | + | ||
- | {{ : | + | |
- | The system should: | + | |
- | * be independent | + | |
- | * estimate intrinsic and extrinsic parameters | + | |
- | * calibrate depth images (case of RGB-D) | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
- | + | ||
- | Requirements: | + | |
- | * Good programming skills in Python and C/C++ | + | |
- | * ROS, OpenCV | + | |
- | + | ||
- | [1] http://www.halcon.de/ | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == 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 | + | |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == Simulation of a robots belief state to support perception(MA) == | + | |
- | + | ||
- | 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 in C/C++ | + | |
- | * 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 and so on. A personal robot assistant in order to execute a task, needs to detect these objects and recognize them. In this thesis a multi-modal approach to interpreting cluttered scenes is going to be investigated, | + | |
- | Requirements: | + | The spoken language |
- | * Good programming skills | + | |
- | * strong background in 3D vision | + | |
- | * basic knowledge of ROS, OpenCV, PCL | + | |
- | Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] | + | 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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