Gayane Kazhoyan

gkazhoyan.jpg
Research Staff

Room: 1.60
Tel: +49 421 218 64033
Fax: +49 421 218 64047
Mail: kazhoyan(at)cs[dot]uni-bremen[dot]de

Gayane (shortly Gaya) is a PhD student at the Institute for Artificial Intelligence of the University of Bremen. Her main research interests are concentrated in the area of cognition-enabled robot executives. She is currently actively and passionately involved in the development of CRAM.

Before joining Michael Beetz's group in November 2013, she worked for one year as a research assistant at Kastanienbaum GmbH with Sami Haddadin, in tight collaboration with the Robotics and Mechatronics Center of DLR. There she was programming and maintaining software for a wide range of robotic applications: from embedded software up to high-level robot executives, and from system identification and control up to web interfaces. Before that she has acquired her M.Sc. degree in Informatics with a major in AI and Robotics at the Technical University of Munich. Her Master's thesis consisted of extending CRAM with the notion of spatial relations. Before coming to Germany, she had a number of short-term jobs in the fields of iPhone game development and web development in different types of companies in her homeland. She's got her B.Eng. degree in Informatics with a major in Technology and Organisation of Information Security from the State Engineering University of Armenia.

Gaya tries to spend at least some of her free time on reading programming books, and when she needs a break from computers she usually plays around with her poi or gets involved in common metalhead activities.

Projects

  • EASE DFG CRC: Developing the robot executive for the PR2 robot performing everyday activities in human environments.

  • SHERPA EU project: Developed the robot executive for multiple robots and their commander module in the outdoor rescue context.

  • RoboHow EU project: Developed the robot executive for PR2.

Software projects

Current main developer and maintainer of cognition-enabled robot executive CRAM.

Teaching

  • Co-lecturer and co-tutor for Integrated Intelligent Systems (WS2020/21)
  • Co-lecturer and co-tutor for Integrated Intelligent Systems (WS2019/20)
  • Co-supervisor for master project Suturo, co-supervisor of RoboCup@Home German Open (WS2018/19, SS2019)
  • Lecturer for Robot Programming with Lisp (WS2018/19)
  • Co-supervisor for bachelor project Suturo (WS2017/18, SS2018)
  • Lecturer and co-tutor for Robot Programming with Lisp (WS2017/18)
  • Co-supervisor for master project Suturo (SS2017)
  • Moderator and co-lecturer for seminar Empirical Methods for Artificial Intelligence (SS2017)
  • Co-lecturer and tutor for Robot Programming with Lisp (SS2016)
  • Lecturer and tutor for Robot Programming with Lisp (WS2015/16)
  • Lecturer and tutor for Robot Programming with Lisp (WS2014/15)
  • Tutor for Praktische Informatik II (SS2014)

Supervised Thesis

  • Master's Thesis of Christopher Pollok “PyCRAM – Enabling Robot Behavior Adaptation through Introspection, Prospection-based Reasoning and Action Reordering using Task Trees” (2021)
  • Master's Thesis of Alina Hawkin “Teaching robots manipulation skills with human-controlled robot bodies – Spend a day in Virtual Reality inside a robot's body” (2020)
  • Master's Thesis of Arthur Niedzwiecki “Tactile-Based and Cognition-Enabled Manipulation for Real World Assembly Tasks” (2020)
  • Bachelor's Thesis of Thomas Lipps “Robots learning geometric groundings of object arrangements for household tasks from virtual reality demonstrations” (2020)
  • Bachelor's Thesis of Jonas Dech “PyCRAM – Accurate Physics-based Environment for Executing Mobile Pick and Place Plans” (2020)
  • Bachelor's Thesis of Vanessa Hassouna “Towards robotic agents executing underdetermined action descriptions of cutting and pouring” (2019)
  • Bachelor's Thesis of Andy Augsten and Dustin Augsten “PyCRAM – Python-based concurrent reactive programming language for autonomous mobile manipulation” (2019)
  • Bachelor's Thesis of Alina Hawkin “Towards Robots Executing Observed Manipulation Activities of Humans” (2018)
  • Bachelor's Thesis of Arthur Niedzwiecki “Plan Transformation for Autonomous Real-World Pick and Place Tasks” (2018)
  • Bachelor's Thesis of Andreas Romero Frueh “Konsistenzprüfung für robotische Wahrnehmung auf Basis von Simulation und logischer Schlussfolgerung” (2015)

Supervised Student Assistants

  • Alina Hawkin, May 2018 - March 2021
  • Amar Fayaz, February 2019 - September 2019, March 2020 - February 2021
  • Thomas Lipps, March 2019 - January 2021
  • Jonas Dech, February 2019 - January 2021
  • Vanessa H., October 2018 - March 2020
  • Christopher Pollok, July 2017 - September 2020
  • Arthur Niedzwiecki, July 2017 - September 2020

Supervised Student Projects

  • RoboCup@Home German Open 2019
  • Independent study on mapping with Turtlebot SS2016
  • GSoC 2015 and GSoC 2014

Publications

Journal Articles and Book Chapters
[1] Sebastian Koralewski, Gayane Kazhoyan, Michael Beetz, "Self-specialization of General Robot Plans Based on Experience", In Robotics and Automation Letters, IEEE, 2019. [bib]
[2] Asil Kaan Bozcuoglu, Gayane Kazhoyan, Yuki Furuta, Simon Stelter, Michael Beetz, Kei Okada, Masayuki Inaba, "The Exchange of Knowledge using Cloud Robotics", In Robotics and Automation Letters, IEEE, vol. 3, no. 2, pp. 1072-1079, 2018. [bib] [doi]
Conference Papers
[3] Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski, Michael Beetz, "The Robot Household Marathon Experiment", In IEEE International Conference on Robotics and Automation (ICRA), 2021. Accepted for publication. [bib] [pdf]
[4] Gayane Kazhoyan, Alina Hawkin, Sebastian Koralewski, Andrei Haidu, Michael Beetz, "Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [bib] [doi]
[5] Gayane Kazhoyan, Arthur Niedzwiecki, Michael Beetz, "Towards Plan Transformations for Real-World Mobile Fetch and Place", In IEEE International Conference on Robotics and Automation (ICRA), 2020. [bib] [doi]
[6] Gayane Kazhoyan, Michael Beetz, "Executing Underspecified Actions in Real World Based on Online Projection", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [bib] [doi]
[7] Gayane Kazhoyan, Michael Beetz, "Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans", In Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems, 2019. [bib]
[8] Fereshta Yazdani, Gayane Kazhoyan, Asil Kaan Bozcuoglu, Andrei Haidu, Ferenc Balint-Benczedi, Daniel Beßler, Mihai Pomarlan, Michael Beetz, "Cognition-enabled Framework for Mixed Human-Robot Rescue Team", In International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [bib]
[9] Asil Kaan Bozcuoglu, Gayane Kazhoyan, Yuki Furuta, Simon Stelter, Michael Beetz, Kei Okada, Masayuki Inaba, "The Exchange of Knowledge using Cloud Robotics", In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. Finalist for the Best Cognitive Robotics Paper Award, Finalist for the Best Service Robotics Paper Award. [bib]
[10] Gayane Kazhoyan, Michael Beetz, "Programming Robotic Agents with Action Descriptions", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 103-108, 2017. [bib] [doi]
Workshop Papers
[11] Michael Beetz, Daniel Beßler, Gayane Kazhoyan, "Robotic Agents that Know What They are Doing", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [bib]
Other Publications
[12] Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski, Michael Beetz, "The Robot Household Marathon Experiment", 2020. [bib] [pdf]
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