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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsg | jobs [2022/05/03 09:58] – [Theses and Student Jobs] haidu | ||
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- | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
- | == Lisp / CRAM support assistant (HiWi) | + | =====Open researcher positions===== |
- | Technical support | + | ====Research assistants (f/ |
- | 5 hours per week for up to 1 year (paid). | + | At the University of Bremen, the Institute |
- | Requirements: | + | **Research assistants (f/m/d)** |
- | | + | |
- | | + | |
- | 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 | + | - Salary scale TV-L – 13 (100 %)\\ |
+ | for the period to June 30, 2025. | ||
- | Contact: [[team: | + | The employment is fixed-term and governed by the Act of Academic Fixed-Term Contract, § 2 (1) WissZeit VG (Wissenschaftszeitvertragsgesetz, |
+ | EASE pursues an interdisciplinary approach to the principles of human information processing in basic research. Starting from the analysis of underlying problem structures and solution strategies, the development of information-processing models is intended to enable autonomous robots to fully master everyday activities. EASE stands for open research, open data and knowledge exchange. For more information see www.ease-crc.org. | ||
+ | Successful candidates will support the expansion of the EASE central laboratory and conduct research in the following areas: | ||
- | == Integrating PR2 in the Unreal Game Engine Framework (BA)== | + | **Tasks: |
- | {{ : | + | * knowledge-based robot control systems |
+ | * machine learning methods to successfully perform and improve robot-based everyday activities | ||
+ | * representation of everyday activities and their implementation as knowledge bases and virtual environments | ||
+ | * Knowledge modelling, representation and construction of knowledge bases for everyday activities | ||
+ | * cognitive architectures for robotic agents | ||
+ | * Integration of camera-based perception into simulation and rendering methods for everyday activities | ||
+ | * web-based experimental environments based on semantic digital twins | ||
+ | * scalable cloud-based knowledge representation and knowledge processing system based on KnowRob | ||
+ | * definitions of ontologies for everyday activities | ||
- | Integrating the [[https:// | + | **Your ideal profile:** |
+ | * University degree in computer science (master' | ||
+ | * Very good academic achievements in the fields of Robotics, AI, perception, programming, | ||
+ | * Profound knowledge | ||
+ | * Substantial Know-how on AI methods in robotic applications | ||
+ | * Excellent programming skills in the field of AI and/or robotics. The programming languages include, for example: Python, C++, LISP, Prolog | ||
+ | * Excellent English skills, both written and spoken | ||
+ | * Independent and committed research in close cooperation with internal and external cooperation partners | ||
+ | * High level of commitment, flexibility and team spirit | ||
- | Requirements: | + | If you think that your knowledge and skills |
- | * Good programming | + | forward to your application. |
- | * Basic physics/ | + | We offer a team-oriented, |
- | * Basic ROS knowledge | + | |
- | * UE4 basic tutorials | + | |
- | Contact: [[team: | + | **General remarks:** |
+ | The University is committed to a policy of providing equal employment opportunities for both men and women alike, and therefore strongly encourages women to apply for the positions offered. Applicants with disabilities will be considered preferentially in case of equal qualifications and aptitudes. The University of Bremen explicitly invites individuals with migration backgrounds to apply. | ||
+ | If you have any questions regarding the positions, please contact Prof. Michael Beetz, PhD (< | ||
- | == Realistic Grasping using Unreal Engine (BA/MA) == | + | Applications including a cover letter, CV, publication list, copies of degree certificates, |
- | {{ : | + | Prof. Michael Beetz, PhD\\ |
+ | Artificial Intelligence / Universität Bremen\\ | ||
+ | Am Fallturm 1\\ | ||
+ | 28359 Bremen\\ | ||
+ | Germany | ||
- | The objective of the project is to implement var- | + | or by Email (including up to two PDF files; reference number A92/21) to: < |
- | ious human-like grasping approaches in a game developed using [[https:// | + | |
- | The game consist of a household environment where a user has to execute various given tasks, such as cooking a dish, setting the table, cleaning the dishes etc. The interaction is done using various sensors to map the users hands onto the virtual hands in the game. | ||
- | In order to improve the ease of manipulating objects the user should | + | The costs of application and presentation cannot |
- | be able to switch during runtime the type of grasp (pinch, power | + | |
- | grasp, precision grip etc.) he/she would like to use. | + | |
- | + | ||
- | Requirements: | + | |
- | * Good programming skills in C++ | + | |
- | * Good knowledge | + | |
- | * Experience with skeletal control / animations / 3D models in Unreal Engine. | + | |
- | Contact: [[team/andrei_haidu|Andrei Haidu]] | + | =====Theses and Student 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. | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== | ||
- | {{ : | ||
- | Developing new activities and improving the current simulation framework done under the [[http:// | + | < |
+ | == Physics-based grasping in VR with finger tracking(Student Job / HiWi) == | ||
+ | |||
+ | Implementing physics-based grasping models | ||
+ | using Manus VR. | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Basic physics/rendering engine knowledge | + | * Familiar with skeletal animations |
- | * Gazebo simulator basic tutorials | + | * 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: | Contact: [[team: | ||
+ | --></ | ||
+ | < | ||
+ | == Lisp / CRAM support assistant (HiWi) == | ||
+ | Technical support for the group for Lisp and the CRAM framework. \\ | ||
+ | 8+ hours per week for up to 1 year (paid). | ||
- | == Automated sensor calibration toolkit (BA/MA)== | + | Requirements: |
+ | * Good programming skills in Common Lisp | ||
+ | * Basic ROS knowledge | ||
- | Computer vision is an important part of autonomous robots. For robots | + | The student will be introduced to the CRAM framework at the beginning |
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | Contact: [[team: |
+ | --></ | ||
- | {{ :kinect2_calibration_setup_small.jpg?200|}} | + | < |
- | The system should: | + | == Mesh Editing / Mesh Segmentation/ |
- | * be independent of the camera type | + | {{ :research: |
- | * estimate intrinsic and extrinsic parameters | + | |
- | * calibrate depth images (case of RGB-D) | + | |
- | * integrate capabilities from Halcon [1] | + | |
- | * operate autonomously | + | |
- | Requirements: | + | Editing and cutting a human mesh into different parts in Blender |
- | * Good programming skills | + | |
- | * ROS, OpenCV | + | |
- | [1] http:// | + | Requirements: |
+ | * Good knowledge in 3D Modeling | ||
+ | * Familiar with Blender | ||
- | Contact: [[team: | + | 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, | + | < |
+ | == 3D Animation | ||
+ | {{ : | ||
- | Requirements: | + | Developing and improving existing or new 3D (static/ |
- | * Good programming skills | + | models |
- | * strong background in computer vision | + | models against Unreal Engine. |
- | * ROS, OpenCV, PCL | + | |
- | Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] | + | Bonus: Working with state of the art 3D Scanners |
- | == Simulation | + | Requirements: |
+ | * Experience with Blender / Maya (or other) | ||
+ | * Knowledge | ||
+ | * Familiar with version-control systems | ||
+ | * Able to work independently with minimal supervision | ||
- | 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, | + | Contact: [[team: |
+ | --></ | ||
- | Requirements: | + | == Linking saref to SOMA (BA Thesis) == |
- | * Good programming skills in C/C++ | + | |
- | * strong background in computer vision | + | |
- | * Gazebo, OpenCV, PCL | + | |
- | Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] | + | Wissensrepräsentation: Semantische Integration der saref Ontology (https:// |
- | == Multi-expert segmentation of cluttered and occluded scenes == | + | Aufgaben: |
+ | * Arbeit mit Wissensrepräsentation und Wissensgraphen | ||
+ | * Wissensakquisition aus web-Quellen | ||
+ | * Abfrage mit KnowRob (Prolog) für autonome Roboter | ||
- | 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, | + | Contact: [[team: |
- | Requirements: | + | == Case Study: Wissen zu Produkt-Aufbewahrungsorten aus dem Internet beziehen (BA Thesis) == |
- | * Good programming skills in C/C++ | + | |
- | * strong background in 3D vision | + | |
- | * basic knowledge of ROS, OpenCV, PCL | + | |
- | Contact: [[team: | + | In dieser Thesis soll untersucht werden, ob die Autonomie von Robotern durch Integration von Wissen zu Aufbewahrungsorten von Produkten aus dem Internet erhöht werden kann. Es gibt verschiedene websites, die Wissen dazu bereitstellen. Dieses Wissen soll von den websites abgefragt und anschließend sinnvoll ontologisiert werden. Anhand verschiedener Fragen werden die Ergebnisse evaluiert (Menge der erworbenen Informationen/ |
- | == Semantic Collision Checking for Planning Robot Manipulation Tasks == | + | Aufgaben: |
- | {{ :research: | + | * Wissensakquise aus dem Internet |
- | 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 ' | + | * Wissensrepräsentation/ |
+ | * Vergleich mit bestehenden Ontologien/ Arbeiten und manuell erstellten Ontologien | ||
+ | * Sinnvolle, automatisierte Abfrage des neu gewonnenen Wissens | ||
- | 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: | + | Contact: [[team: |
- | * basic knowledge of ROS | + | |
- | * basic knowledge of robotics | + | |
- | * interest in using KnowRob and MoveIt! | + | |
- | Contact: [[team:georg_bartels|Georg Bartels]] | + | == Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) == |
+ | |||
+ | In this thesis, the goal is to make a robotic system learn new objects automatically. | ||
+ | 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. | ||
+ | |||
+ | 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. | ||
+ | |||
+ | |||
+ | Requirements: | ||
+ | * Knowledge about sensor data processing | ||
+ | * Interest in model construction from sensory data | ||
+ | * Work with KnowRob knowledge processing framework | ||
+ | |||
+ | |||
+ | Contact: [[team:patrick_mania|Patrick Mania]] | ||
+ | |||
+ | |||
+ | == 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 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:// | ||
+ | |||
+ | 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. | ||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == 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. | ||
+ | |||
+ | Therefore, 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. | ||
+ | |||
+ | Requirements: | ||
+ | * Knowledge of 3D-Modelling tools. Blender would be highly preferred. | ||
+ | * Experience in Game Engine development. Ideally Unreal Engine 4 and C++. | ||
+ | The spoken language in this job is german or english, based on your preference. | ||
+ | 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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