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Potential thesis projects
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Door opening (and closing) with planning involved. E.g. have the robot reason about: 'does it take more time to open the door on the shortest path, or is taking the long way around but with likely opened doors already faster?' The robot can learn which doors are typically open from observation over (extended) time. Consider how long it takes to open a (specific) door.
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Figure out how to open linear and revolving doors, maybe using reinforcement learning in simulation and then transfer to reality.
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Generic door opener based on lazy manipulation.
- View planning: which viewpoint(s) to take to be reasonably sure you've seen everything or something is really not there.
From a research perspective, robustness is a very interesting subject. This could be formulated as a project through e.g.:
- Manipulation in a cluttered environment using local obstacle tracking.
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Integrate Sorama microphone array with speech recognition (by eliminating sound not from speaker's mouth)
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Integrate 3D sound & speech with Sorama microphone array with 3D world model, so we know where people are, and by 3D sound localisation which person said something etc.