Phd Position F - M Contact-Rich Motion Generation on Complex Robots Theory And Applications H/F INRIA

PhD Position F/M Contact-Rich Motion Generation on Complex Robots: Theory and Applications
Le descriptif de l'offre ci-dessous est en Anglais
Type de contrat : CDD

Niveau de diplôme exigé : Bac +5 ou équivalent

Fonction : Doctorant

Niveau d'expérience souhaité : Jeune diplômé

Contexte et atouts du poste

The PhD will be done at Inria in the Willow research team.

Mission confiée

Despite the surge of interest in robotics, simple tasks like moving an object are yet to be fully solved. On the
one hand, automatic control lacks adaptability; on the other, reinforcement learning requires a lot of data and
tweaking, both fail to scale up to long time horizons. This thesis aims to develop new methods for motion
generation through contact sequences. The first objective consists of relaxing physical constraints to allow a
trajectory optimization solver to explore contact modes, then progressively reinforce the physics, until valid
trajectories are obtained. The second objective of this thesis will focus on developing learning-based approaches
to speed up solving time, while enabling the integration of complex sensory signals (camera images, tactile sensors,
etc.). Finally, this thesis seeks to appropriately implement these methods and carry out complex tasks on real
robots.

Principales activités

Main activities:

- Analyse and implement related work.
- Design novel innovative solutions.
- Write progress reports and papers.
- Present work at conferences.

Compétences

Technical skills and level required : programming skills are required.

Languages : English and possibly French.

Relational skills : Good communication skills.

Avantages

- Subsidized meals
- Partial reimbursement of public transport costs
- Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory reduction in working hours) + possibility of exceptional leave (sick children, moving home, etc.)
- Possibility of teleworking and flexible organization of working hours
- Professional equipment available (videoconferencing, loan of computer equipment, etc.)
- Social, cultural and sports events and activities
- Access to vocational training
- Social security coverage