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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====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 |
- | are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer games), | + | using Manus VR. |
- | + | ||
- | 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 in Computer Science (Bachelor' | + | * Good C++ programming skills |
- | * Basic skills in Artificial Intelligence | + | * Familiar with skeletal animations |
- | * Optional: basic skills in Probability Theory | + | * Experience with simulators/ |
- | * Optional: basic skills in Machine Learning | + | * Familiar with Unreal Engine API |
- | * Good programming skills in Python and Java | + | * Familiar with version-control systems (git) |
+ | * Able to work independently with minimal supervision | ||
- | Hours: 10-20 h/week | + | Contact: [[team: |
- | Contact: [[team: | ||
- | [1] www.robohow.eu\\ | ||
- | [2] http:// | ||
+ | < | ||
+ | == Lisp / CRAM support assistant (HiWi) == | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | + | Technical support for the group for Lisp and the CRAM framework. |
- | {{ : | + | 8+ hours per week for up to 1 year (paid). |
- | + | ||
- | Developing new activities | + | |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good programming skills in Common Lisp |
- | * Basic physics/ | + | * Basic ROS knowledge |
- | * Gazebo simulator basic tutorials | + | |
- | 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. |
- | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | + | Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] |
- | | + | --></ |
- | 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. | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
- | Requirements: | + | Editing and cutting a human mesh into different parts in Blender |
- | * Good programming skills | + | |
- | * Gazebo simulator basic tutorials | + | |
- | + | ||
- | Contact: [[team: | + | |
- | + | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices | + | |
- | {{ : | + | |
- | + | ||
- | Improving the skeletal tracking offered by the [[https:// | + | |
- | + | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | |
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good knowledge |
+ | * Familiar with Blender | ||
- | Contact: [[team: | + | Contact: [[team/ |
+ | --></ | ||
- | == Fluid Simulation in Gazebo (BA/MA)== | ||
- | {{ : | ||
- | [[http:// | ||
- | Currently there is an [[http:// | + | == 3D Animation and Modeling (Student Job / HiWi)== |
+ | {{ :research:kitchen_unreal.jpg?200|}} | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | Developing and improving existing or new 3D (static/ |
- | and should be implemented (PCISPH/IISPH). | + | models in Blender |
+ | models against Unreal Engine. | ||
- | 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). | + | Bonus: Working with state of the art 3D Scanners |
- | + | ||
- | Another topic would be the visualization | + | |
- | + | ||
- | Here is a [[https:// | + | |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Interest in Fluid simulation | + | * Knowledge of Unreal Engine material / lightning development |
- | * Basic physics/ | + | * Familiar with version-control systems (git) |
- | * Gazebo simulator and Fluidix basic tutorials | + | * Able to work independently with minimal supervision |
Contact: [[team: | Contact: [[team: | ||
- | == Automated sensor calibration toolkit | + | == Sprachgesteuertes Leitsystem |
+ | |||
+ | Weiterentwicklung eines sprachgesteuerten Leitsystems zu gesuchten Produkten im Einzelhandel für Smartphones (Android) basierend auf Ankerpunkten und einer Anbindung an Wissensgraphen. | ||
+ | Dabei wird auf bestehende Apps aufgebaut. | ||
+ | |||
+ | Aufgaben: | ||
+ | * App Entwicklung mit der Unity game engine und Flutter | ||
+ | * Erweiterung der Sprachsteuerung | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen für die Sprachsteuerung | ||
- | 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, | ||
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | Contact: [[team: |
- | {{ : | + | == Sprachauswahl für Shopping Assistenten |
- | The system should: | + | |
- | * be independent of the camera type | + | |
- | * estimate intrinsic and extrinsic parameters | + | |
- | * calibrate depth images | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
- | Requirements: | + | Weiterentwicklung eines Produktinformationssystems im Einzelhandel für Smartphones (Android) um eine Sprachauswahl. Anzeige der jeweiligen Informationen |
- | * Good programming skills | + | Dabei wird auf bestehende Apps aufgebaut. |
- | * ROS, OpenCV | + | |
- | [1] http:// | + | Aufgaben: |
+ | * App Entwicklung mit der Unity game engine und Flutter | ||
+ | * Erweiterung der App um eine Sprachauswahl | ||
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen für Sprachmodellierung | ||
- | Contact: [[team: | ||
- | == On-the-fly 3D CAD model creation (MA)== | + | Contact: [[team: |
- | 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, | + | == Situational awareness in kitchen environments (MA Thesis) == |
- | Requirements: | + | This is a knowledge representation topic including knowledge graphs. The idea is so link external Web-knowledge to an existing knowledge framework |
- | * Good programming skills | + | |
- | * strong background | + | |
- | * ROS, OpenCV, PCL | + | |
- | Contact: [[team: | + | 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. |
- | == Simulation of a robots belief state to support perception(MA) == | + | requirements: |
+ | * Work with KnowRob knowledge processing framework | ||
+ | * Work with knowledge graphs and Linked Data to create | ||
+ | * Implement reasoning about situations | ||
- | 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: | + | Contact: [[team: |
- | * Good programming skills in C/C++ | + | |
- | * strong background in computer vision | + | |
- | * Gazebo, OpenCV, PCL | + | |
- | Contact: [[team: | ||
- | == Multi-expert segmentation | + | == Development |
+ | 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. 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: | ||
+ | * 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. | ||
+ | * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) | ||
+ | * Software development for our Robot Perception framework [[http:// | ||
- | 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: | + | Contact: [[team: |
- | * Good programming skills in C/C++ | + | |
- | * strong background in 3D vision | + | |
- | * basic knowledge of ROS, OpenCV, PCL | + | |
- | 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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