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jobs [2015/07/28 12:11] – [Theses and Jobs] winkler | jobs [2016/06/08 10:43] – raider | ||
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If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
+ | < | ||
+ | == Lisp / CRAM support assistant (HiWi) == | ||
+ | Technical support for the group for Lisp and the CRAM framework. \\ | ||
+ | 5 hours per week for up to 1 year (paid). | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/ | + | Requirements: |
+ | * Good programming skills in Common Lisp | ||
+ | * Basic ROS knowledge | ||
- | 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. | + | The student will be introduced to the CRAM framework at the beginning |
- | Requirements: | + | Contact: [[team: |
- | * Skills in numerical optimization algorithms | + | --> |
- | * Good programming skills in Python and C/C++ | + | </html> |
- | Contact: [[team: | ||
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding | + | == Integrating PR2 in the Unreal Game Engine Framework |
+ | {{ : | ||
- | Markov Logic Networks (MLNs) combine | + | Integrating |
Requirements: | Requirements: | ||
- | * Experience | + | * Good programming skills |
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | + | * Basic physics/ |
- | * Good programming skills in Python. | + | * Basic ROS knowledge |
+ | * UE4 basic tutorials | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | ==HiWi-Position: | + | == Realistic Grasping using Unreal Engine (BA/ |
- | 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 | + | The objective of the project |
- | development and the integration of probabilistic methods | + | ious human-like grasping approaches |
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | The game consist of a household environment where a user has to execute various given tasks, such as cooking |
- | Tasks: | + | In order to improve |
- | * Implementation of an interface | + | be able to switch during runtime |
- | * Linkage | + | grasp, precision grip etc.) he/she would like to use. |
- | | + | |
- | + | Requirements: | |
- | Requirements: | + | * Good programming |
- | * Studies in Computer Science (Bachelor' | + | * Good knowledge of the Unreal Engine API. |
- | * Basic skills in Artificial Intelligence | + | * Experience with skeletal control / animations / 3D models |
- | * Optional: basic skills in Probability Theory | + | |
- | * Optional: basic skills | + | |
- | * Good programming skills in Python and Java | + | |
- | + | ||
- | Hours: 10-20 h/week | + | |
- | + | ||
- | Contact: [[team: | + | |
- | [1] www.robohow.eu\\ | ||
- | [2] http:// | ||
+ | Contact: [[team/ | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== | + | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== |
{{ : | {{ : | ||
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Contact: [[team: | Contact: [[team: | ||
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | ||
- | {{ : | ||
- | Integrating the eye tracker in the [[http:// | ||
- | |||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * Gazebo simulator basic tutorials | ||
- | |||
- | Contact: [[team: | ||
- | |||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
- | {{ : | ||
- | |||
- | Improving the skeletal tracking offered by the [[https:// | ||
- | |||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | ||
- | |||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | |||
- | Contact: [[team: | ||
- | |||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | |||
- | [[http:// | ||
- | |||
- | 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 | ||
- | 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 (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: | ||
- | * Good programming skills in C/C++ | ||
- | * Interest in Fluid simulation | ||
- | * Basic physics/ | ||
- | * Gazebo simulator and Fluidix basic tutorials | ||
- | |||
- | Contact: [[team: | ||
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Contact: [[team: | Contact: [[team: | ||
+ | /* | ||
== On-the-fly 3D CAD model creation (MA)== | == On-the-fly 3D CAD model creation (MA)== | ||
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Contact: [[team: | Contact: [[team: | ||
+ | */ | ||
== Multi-expert segmentation of cluttered and occluded scenes == | == Multi-expert segmentation of cluttered and occluded scenes == | ||
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Contact: [[team: | Contact: [[team: | ||
+ | |||
+ | == Semantic Collision Checking for Planning Robot Manipulation Tasks == | ||
+ | {{ : | ||
+ | Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the ' | ||
+ | |||
+ | The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state. | ||
+ | |||
+ | Requirements: | ||
+ | * basic knowledge of ROS | ||
+ | * basic knowledge of robotics | ||
+ | * interest in using KnowRob and MoveIt! | ||
+ | |||
+ | 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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