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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 | + | |
- | + | ||
- | Contact: [[team: | + | |
- | [1] www.robohow.eu\\ | + | 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. |
- | [2] http:// | + | |
+ | Contact: [[team: | ||
+ | --></ | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== | + | < |
- | {{ :research:gz_env1.png?200|}} | + | == Mesh Editing |
+ | {{ :research:human_hand_cutting.png?150|}} | ||
- | Developing new activities | + | |
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good knowledge |
- | * Basic physics/rendering engine knowledge | + | * Familiar with Blender |
- | * Gazebo simulator basic tutorials | + | |
- | 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 | + | < |
- | {{ :research:leap_motion.jpg? | + | == 3D Animation and Modeling |
+ | {{ :research:kitchen_unreal.jpg? | ||
- | Improving the skeletal | + | Developing and improving existing or new 3D (static/skeletal) |
+ | models in Blender | ||
+ | models against Unreal Engine. | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | Bonus: Working with state of the art 3D Scanners [[https:// |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
+ | * Knowledge of Unreal Engine material / lightning development | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Fluid Simulation | + | == Representing knowledge |
- | {{ : | + | |
- | [[http:// | + | The thesis will be jointly supervised by German Aerospace Center |
- | Currently there is an [[http:// | + | Summary: |
+ | * Investigate about existing ontologies, like the Socio-physical Model of Activities (SOMA) from the University of Bremen. | ||
+ | * Refactor an existing knowledge database (known as the Object DataBase, ODB) used by the DLR into an ontology. | ||
+ | * Use the ontology | ||
- | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | + | Full offer: |
- | 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 | + | Contact: |
- | Here is a [[https:// | + | == Chatbot zur Erfassung von Vorwissen |
- | Requirements: | + | In dieser Arbeit soll ein Chatbot |
- | * Good programming skills | + | |
- | | + | |
- | * Basic physics/ | + | |
- | * Gazebo simulator and Fluidix basic tutorials | + | |
- | Contact: [[team: | + | Aufgaben: |
+ | * Arbeit mit jupyter notebook | ||
+ | * Recherche zu existierenden chatbots | ||
+ | * Erstellung eines chatbots | ||
+ | * Durchführung einer (kleinen) Nutzerstudie zur Evaluation des erstellten chatbots | ||
+ | * Bewertung der Nutzerangaben (zur weiteren Verwertung) | ||
+ | Contact: [[team: | ||
- | == Automated sensor calibration toolkit | + | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == |
- | 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, | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
+ | The system should be able to generate | ||
- | The topic for this thesis | + | The focus of the thesis |
+ | * Develop methods | ||
+ | * In the second step the system | ||
- | {{ : | ||
- | The system should: | ||
- | * be independent of the camera type | ||
- | * estimate intrinsic and extrinsic parameters | ||
- | * calibrate depth images (case of RGB-D) | ||
- | * integrate capabilities from Halcon [1] | ||
- | * operate autonomously | ||
- | Requirements: | + | Requirements: |
- | * Good programming skills | + | * Knowledge about sensor data processing |
- | * ROS, OpenCV | + | * Interest |
+ | * Work with KnowRob knowledge processing framework | ||
- | [1] http:// | ||
- | Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team: | + | Contact: [[team:patrick_mania|Patrick Mania]] |
- | == On-the-fly 3D CAD model creation | + | < |
+ | == 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:// | ||
- | Create models during runtime for unknown textured objets based on depth and color information. Track the object | + | Requirements: |
+ | * Experience in C++. | ||
+ | * Basic understanding of the ROS middleware | ||
+ | The spoken language in this job is german or english, based on your preference. | ||
- | Requirements: | + | Contact: [[team: |
- | * Good programming skills in C/C++ | + | --></html> |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | Contact: | + | == 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. | ||
- | == Simulation | + | Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: |
+ | * Modelling | ||
+ | * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects. | ||
- | 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: |
- | + | * Knowledge of 3D-Modelling tools. Blender would be highly preferred. | |
- | Requirements: | + | * Experience |
- | * Good programming skills in C/C++ | + | |
- | * strong background | + | |
- | * 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: | + | 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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