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jobs [2015/06/19 12:58] – winklerjobs [2024/05/14 08:59] – [Theses and Student Jobs] jesch
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-=====Theses and Jobs===== 
-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. 
  
 +=====Open researcher positions=====
  
 +{{blog>:jobs?3&date&footer&firstseconly&readmore}}
  
-== HiWi-Position: Testing and Extension of Automated Experiment Environments for Robot Plans== 
  
-When dealing with real-world robot tasks, simulation that is close to reality is key to test behavior-driven, smart robot plans before they are deployed on an actual physical system. In this HiWi job, I am looking for a competent student (preferably with prior experience in ROS) that performs, tests, and extends a simulated experiment world featuring a PR2 robot that autonomously performs tasks.+<html> 
 +<div style="width:100%;border-bottom:10px solid #DCDFE3;margin-bottom:80px;"></div> 
 +</html> 
  
-Requirements: 
-  * Experience in ROS 
-  * Passion for Robotics 
-  * Ideally programming skills in Lisp, Prolog, and Java 
  
-Contact: [[team:jan_winkler|Jan Winkler]]+=====Theses and Student Jobs===== 
 +If you are looking for a bachelor's/master's thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
  
-== GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)==+<html><!-- 
 +== Physics-based grasping in VR with finger tracking(Student Job / 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.+Implementing physics-based grasping models in virtual environments, 
 +using Manus VR.
  
 Requirements: Requirements:
-  * Skills in numerical optimization algorithms +  * Good C++ programming skills 
-  * Good programming skills in Python and C/C+++  * Familiar with skeletal animations 
 +  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 +--></html>
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-== Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)==+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) ==
  
-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.+Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
 Requirements: Requirements:
-  * Experience in Machine Learning. +  * Good programming skills in Common Lisp 
-  * Experience with statistical relational learning (e.g. MLNs) is helpful. +  * Basic ROS knowledge
-  * Good programming skills in Python.+
  
-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.
  
 +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
 +--></html>
  
-==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots==+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-In the context of the European research project RoboHow.Cog [1,2] we + Editing and cutting a human mesh into different parts in Blender / Maya (or other).
-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 knowledge in 3D Modeling 
-  * 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/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-Contact: [[team:daniel_nyga|Daniel Nyga]] 
  
-[1] www.robohow.eu\\ +<html><!-- 
-[2] http://www.youtube.com/watch?v=0eIryyzlRwA+== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
 +Developing and improving existing or new 3D (static/skeletal)
 +models in Blender / Maya (or other). Further importing and testing the
 +models against Unreal Engine.
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
- {{ :research:gz_env1.png?200|}}  +
- +
-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:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * Basic physics/rendering engine knowledge +  * Knowledge of Unreal Engine material / lightning development 
-  * Gazebo simulator basic tutorials+  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
  
-== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== +== Scene Format Conversion Tool for Robotics Simulation (MA Thesis) ==
- {{ :research:eye_tracker.png?200|}} +
  
-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.+**Motivation:**
  
-Requirements: +With robotics playing a significant role in various domains, simulation is essential for developing and testing algorithms. Multiple simulators are available, each with its own specialized format (SDF, USD, MJCF, URDF, FBX) for describing scenes. This diversity of formats makes it challenging to transfer scenarios between simulators. Therefore, a versatile parser that can convert scene descriptions between these formats is highly valuable.
-  * Good programming skills in C/C++ +
-  * Gazebo simulator basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+{{:multiformat.png?400|}}
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +**Task Description:**
- {{ :research:leap_motion.jpg?200|}} +
  
-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 objective of this project is to develop a universal parser capable of converting scene descriptions between common formats. The following key steps are involved:
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+  - Create a model to represent and store the scene graph. 
 +  - Implement import functions for the model to handle scene descriptions in any of the supported formats. 
 +  - Implement export functions for the model to generate scene descriptions in any of the supported formats.
  
-Requirements: +**Requirements:**
-  * Good programming skills in C/C+++
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+  * A strong passion for robotics. 
 +  * Dedication to the chosen topic. 
 +  * Eager to learn.
  
-== Fluid Simulation in Gazebo (BA/MA)== +Contact: [[team:hoang_giang_nguyen|Giang Nguyen]]
- {{ :research:fluid.png?200|}} +
  
-[[http://gazebosim.org/|Gazebo]] currently only supports rigid body physics engines (ODE, Bullet etc.), however in some cases fluids are preferred in order to simulate as realistically as possible the given environment.+== Generating Comics about Everyday Experiences of a Robot (BA Thesis) ==
  
-Currently there is an [[http://gazebosim.org/tutorials?tut=fluids&cat=physics|experimental version]] of fluids  in Gazebo, using the [[http://onezero.ca/fluidix/|Fluidix]] library to run the fluids computation on the GPU.+Summary: 
 +  * Query experience data from an existing database 
 +  * Retrieve situations of interest 
 +  * Recreate the scene in a 3D environment 
 +  * Apply a comic shader 
 +  * Find good camera position for moments of interest 
 +  * Generate a PDF summarizing the experiences as a comic strip
  
-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:daniel_bessler|Daniel Beßler]]
-and should be implemented (PCISPH/IISPH).+
  
-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://www.ogre3d.org/|OGRE]] is used.+== Integration von common-sense anhand eines alltäglichen Beispiels (BA Thesis) ==
  
-Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. +In dieser Arbeit soll anhand eines alltäglichen Beispiels (einem Roboter, der verschiedene Schneideaktionen ausführen können soll), common-sense Wissen in eine bestehende Wissensbasis integriert werden. Dazu soll der ATOMIC Datensatz betrachtet werden (https://allenai.org/data/atomic-2020).
  
-Requirements: +Die Aufgaben dazu sind: 
-  * Good programming skills in C/C++ +  * Einarbeitung in Wissensrepräsentation 
-  * Interest in Fluid simulation +  * Einarbeitung in Owlready und entitity linking 
-  * Basic physics/rendering engine knowledge +  * Erstellung von Kompetenzfragen und Evaluierung der Integration
-  * Gazebo simulator and Fluidix basic tutorials+
  
-Contact: [[team:andrei_haidu|Andrei Haidu]] 
  
 +Contact: [[team:michaela_kümpel|Michaela Kümpel]]
  
-== Automated sensor calibration toolkit (BA/MA)==+<html><!-- 
 +== Development of Modules for Robot Perception (Student Job / HiWi) == 
 +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 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://robosherlock.org/|RoboSherlock]] which contains many algorithms for computer vision problems (mainly C++)
  
-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.+Requirements: 
 +  * Experience in C++. 
 +  * Basic understanding of the ROS middleware and Linux. 
 +The spoken language in this job is german or english, based on your preference.
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+Contact: [[team:patrick_mania|Patrick Mania]] 
 +--></html>
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +== Development of Modules for Robot Perception (Student Job / HiWi) == 
-The system should: +In our research group, we focus on the development of intelligent robots that are combining modern computer vision methods with knowledge representation.  
-  * be independent of the camera type +We are offering multiple Hiwi positions / student jobs for software development in the context of our Robot Perception framework [[http://robokudo.ai.uni-bremen.de/|RoboKudo]], which contains many algorithms for computer vision problems (mainly Python).
-  * estimate intrinsic and extrinsic parameters +
-  * calibrate depth images (case of RGB-D) +
-  * integrate capabilities from Halcon [1] +
-  * operate autonomously+
  
-Requirements:  +Requirements: 
-  * Good programming skills in Python and C/C++ +  * Solid experience in python and object-oriented programming 
-  * ROS, OpenCV+  * Basic understanding of the ROS middleware and Linux 
 +  * Basic understanding of computer vision methods
  
-[1] http://www.halcon.de/+The spoken language in this job is german or english, based on your preference. Work can be done fully remote.
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Contact: [[team:patrick_mania|Patrick Mania]] 
 +--
  
-== On-the-fly 3D CAD model creation (MA)==+== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
 +A recent development in the field of AI is the usage of photorealistic simulations, for example to create digital twins of environments like households or  [[https://iottechnews.com/news/2021/apr/13/bentley-systems-nvidia-omniverse-create-real-time-digital-twins/|factories]]. 
 +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.
  
-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, completing it's 3D model from multiple views improving redetection. Using the robots manipulator pick up the object and complete the model by viewing it from multiple viewpoints.+Therefore, we are offering multiple Hiwi positions / student jobs for the following tasks: 
 +  * 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.
  
-Requirements:  +Requirements: 
-  * Good programming skills in C/C++ +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-  * strong background in computer vision  +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
-  * ROS, OpenCV, PCL +
- +
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] +
- +
-== 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, detection and tracking of these in the real world. +The spoken language in this job is german or english, based on your preference.
  
-Requirements:  +Contact: [[team:patrick_mania|Patrick Mania]]
-  * Good programming skills in C/C++ +
-  * strong background in computer vision  +
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+== Roboterdemos in einer smarten Küche ==
  
-== Multi-expert segmentation of cluttered and occluded scenes ==+Zur Unterstützung im Teilprojekt F (Laborinfrastruktur) des SFB EASE suchen wir ab dem 01.07.2024 für 74 Stunden im Monat eine engagierte, studentische Hilfskraft. 
 +Im Rahmen der Stelle sollen kleine Pick-and-Place-Demos mit verschiedenen Robotern, wie dem Stretch 2 von Hello Robot und dem TIAGo++ von Pal Robotics, entwickelt werden. 
 +Dazu soll außerdem eine Schnittstelle für eine vorhandene Miele API geschrieben werden und an einen ROS-Service angebunden werden. Damit können die Roboter selbstständig die smarten Küchengeräte steuern.
  
-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, combining the results of multiple segmentation algorithms in order to come up with more reliable object hypotheses.+Voraussetzungen für den Job sind:
  
-Requirements:  +* Kenntnisse in Python 
-  * Good programming skills in C/C++ +* Studium an der Uni Bremen in Informatik oder Digital Media 
-  * strong background in 3D vision  +* Selbstständiges Arbeiten
-  * basic knowledge of ROS, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]+Contact: [[team:jeroen_schaefer|Jeroen Schäfer]]
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