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12 Best Artificial Intelligence Topics for Research in 2024

Explore the "12 Best Artificial Intelligence Topics for Research in 2024." Dive into the top AI research areas, including Natural Language Processing, Computer Vision, Reinforcement Learning, Explainable AI (XAI), AI in Healthcare, Autonomous Vehicles, and AI Ethics and Bias. Stay ahead of the curve and make informed choices for your AI research endeavours.

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Table of Contents  

1) Top Artificial Intelligence Topics for Research 

     a) Natural Language Processing 

     b) Computer vision 

     c) Reinforcement Learning 

     d) Explainable AI (XAI) 

     e) Generative Adversarial Networks (GANs) 

     f) Robotics and AI 

     g) AI in healthcare 

     h) AI for social good 

     i) Autonomous vehicles 

     j) AI ethics and bias 

2) Conclusion 

Top Artificial Intelligence Topics for Research   

This section of the blog will expand on some of the best Artificial Intelligence Topics for research.

Natural Language Processing   

Natural Language Processing (NLP) is centred around empowering machines to comprehend, interpret, and even generate human language. Within this domain, three distinctive research avenues beckon: 

1) Sentiment analysis: This entails the study of methodologies to decipher and discern emotions encapsulated within textual content. Understanding sentiments is pivotal in applications ranging from brand perception analysis to social media insights. 

2) Language generation: Generating coherent and contextually apt text is an ongoing pursuit. Investigating mechanisms that allow machines to produce human-like narratives and responses holds immense potential across sectors. 

3) Question answering systems: Constructing systems that can grasp the nuances of natural language questions and provide accurate, coherent responses is a cornerstone of NLP research. This facet has implications for knowledge dissemination, customer support, and more. 

Computer Vision   

Computer Vision, a discipline that bestows machines with the ability to interpret visual data, is replete with intriguing avenues for research: 

1) Object detection and tracking: The development of algorithms capable of identifying and tracking objects within images and videos finds relevance in surveillance, automotive safety, and beyond. 

2) Image captioning: Bridging the gap between visual and textual comprehension, this research area focuses on generating descriptive captions for images, catering to visually impaired individuals and enhancing multimedia indexing. 

3) Facial recognition: Advancements in facial recognition technology hold implications for security, personalisation, and accessibility, necessitating ongoing research into accuracy and ethical considerations. 

Reinforcement Learning   

Reinforcement Learning revolves around training agents to make sequential decisions in order to maximise rewards. Within this realm, three prominent Artificial Intelligence Topics emerge: 

1) Autonomous agents: Crafting AI agents that exhibit decision-making prowess in dynamic environments paves the way for applications like autonomous robotics and adaptive systems. 

2) Deep Q-Networks (DQN): Deep Q-Networks, a class of reinforcement learning algorithms, remain under active research for refining value-based decision-making in complex scenarios. 

3) Policy gradient methods: These methods, aiming to optimise policies directly, play a crucial role in fine-tuning decision-making processes across domains like gaming, finance, and robotics.  

Explainable AI (XAI)   

The pursuit of Explainable AI seeks to demystify the decision-making processes of AI systems. This area comprises Artificial Intelligence Topics such as: 

1) Model interpretability: Unravelling the inner workings of complex models to elucidate the factors influencing their outputs, thus fostering transparency and accountability. 

2) Visualising neural networks: Transforming abstract neural network structures into visual representations aids in comprehending their functionality and behaviour. 

3) Rule-based systems: Augmenting AI decision-making with interpretable, rule-based systems holds promise in domains requiring logical explanations for actions taken. 

Generative Adversarial Networks (GANs)   

The captivating world of Generative Adversarial Networks (GANs) unfolds through the interplay of generator and discriminator networks, birthing remarkable research avenues: 

1) Image generation: Crafting realistic images from random noise showcases the creative potential of GANs, with applications spanning art, design, and data augmentation. 

2) Style transfer: Enabling the transfer of artistic styles between images, merging creativity and technology to yield visually captivating results. 

3) Anomaly detection: GANs find utility in identifying anomalies within datasets, bolstering fraud detection, quality control, and anomaly-sensitive industries. 

Robotics and AI   

The synergy between Robotics and AI is a fertile ground for exploration, with Artificial Intelligence Topics such as: 

1) Human-robot collaboration: Research in this arena strives to establish harmonious collaboration between humans and robots, augmenting industry productivity and efficiency. 

2) Robot learning: By enabling robots to learn and adapt from their experiences, Researchers foster robots' autonomy and the ability to handle diverse tasks. 

3) Ethical considerations: Delving into the ethical implications surrounding AI-powered robots helps establish responsible guidelines for their deployment. 

AI in healthcare   

AI presents a transformative potential within healthcare, spurring research into: 

1) Medical diagnosis: AI aids in accurately diagnosing medical conditions, revolutionising early detection and patient care. 

2) Drug discovery: Leveraging AI for drug discovery expedites the identification of potential candidates, accelerating the development of new treatments. 

3) Personalised treatment: Tailoring medical interventions to individual patient profiles enhances treatment outcomes and patient well-being. 

AI for social good   

Harnessing the prowess of AI for Social Good entails addressing pressing global challenges: 

1) Environmental monitoring: AI-powered solutions facilitate real-time monitoring of ecological changes, supporting conservation and sustainable practices. 

2) Disaster response: Research in this area bolsters disaster response efforts by employing AI to analyse data and optimise resource allocation. 

3) Poverty alleviation: Researchers contribute to humanitarian efforts and socioeconomic equality by devising AI solutions to tackle poverty. 

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Autonomous vehicles   

Autonomous Vehicles represent a realm brimming with potential and complexities, necessitating research in Artificial Intelligence Topics such as: 

1) Sensor fusion: Integrating data from diverse sensors enhances perception accuracy, which is essential for safe autonomous navigation. 

2) Path planning: Developing advanced algorithms for path planning ensures optimal routes while adhering to safety protocols. 

3) Safety and ethics: Ethical considerations, such as programming vehicles to make difficult decisions in potential accident scenarios, require meticulous research and deliberation. 

AI ethics and bias   

Ethical underpinnings in AI drive research efforts in these directions: 

1) Fairness in AI: Ensuring AI systems remain impartial and unbiased across diverse demographic groups. 

2) Bias detection and mitigation: Identifying and rectifying biases present within AI models guarantees equitable outcomes. 

3) Ethical decision-making: Developing frameworks that imbue AI with ethical decision-making capabilities aligns technology with societal values. 

Future of AI  

The vanguard of AI beckons Researchers to explore these horizons: 

1) Artificial General Intelligence (AGI): Speculating on the potential emergence of AI systems capable of emulating human-like intelligence opens dialogues on the implications and challenges. 

2) AI and creativity: Probing the interface between AI and creative domains, such as art and music, unveils the coalescence of human ingenuity and technological prowess. 

3) Ethical and regulatory challenges: Researching the ethical dilemmas and regulatory frameworks underpinning AI's evolution fortifies responsible innovation. 

AI and education   

The intersection of AI and Education opens doors to innovative learning paradigms: 

1) Personalised learning: Developing AI systems that adapt educational content to individual learning styles and paces. 

2) Intelligent tutoring systems: Creating AI-driven tutoring systems that provide targeted support to students. 

3) Educational data mining: Applying AI to analyse educational data for insights into learning patterns and trends. 

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Conclusion  

The domain of AI is ever-expanding, rich with intriguing topics about Artificial Intelligence that beckon Researchers to explore, question, and innovate. Through the pursuit of these twelve diverse Artificial Intelligence Topics, we pave the way for not only technological advancement but also a deeper understanding of the societal impact of AI. By delving into these realms, Researchers stand poised to shape the trajectory of AI, ensuring it remains a force for progress, empowerment, and positive transformation in our world. 

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Artificial Intelligence Topics for Dissertations

Published by Carmen Troy at January 6th, 2023 , Revised On August 16, 2023

Introduction

Artificial intelligence (AI) is the process of building machines, robots, and software that are intelligent enough to act like humans. With artificial intelligence, the world will move into a future where machines will be as knowledgeable as humans, and they will be able to work and act as humans.

When completely developed, AI-powered machines will replace a lot of humans in a lot of fields. But would that take away power from the humans? Would it cause humans to suffer as these machines will be intelligent enough to carry out daily tasks and perform routine work? Will AI wreak havoc in the coming days? Well, these are questions that can only be answered after thorough research.

To understand how powerful AI machines will be in the future and what sort of a world we will witness, here are the best AI topics you can choose for your dissertation.

You may also want to start your dissertation by requesting  a brief research proposal  from our writers on any of these topics, which includes an  introduction  to the topic,  research question ,  aim and objectives ,  literature review  along with the proposed  methodology  of research to be conducted.  Let us know  if you need any help in getting started.

Check our  dissertation examples  to get an idea of  how to structure your dissertation .

Review the full list of  dissertation topics for 2022 here.

You may also be interested in technology dissertation topics , computer engineering dissertation topics , networking dissertation topics , and data security dissertation topics .

2022 Artificial Intelligence Topics for Dissertations

Topic 1: artificial intelligence (ai) and supply chain management- an assessment of the present and future role played by ai in supply chain process: a case of ibm corporation in the us.

Research Aim: This research aims to find the present, and future role AI plays in supply chain management. It will analyze how AI affects various components of the supply chain process, such as procurement, distribution, etc. It will use the case study of IBM Corporation, which uses AI in the US to make the supply chain process more efficient and reduce losses. Moreover, through various technological and business frameworks, it will recommend changes in the current AI-based supply chain models to improve their efficiency.

Topic 2: Artificial Intelligence (AI) and Blockchain Technology a Transition Towards Decentralized and Automated Finance- A Study to Find the Role of AI and Blockchains in Making Various Segments of Financial Sector Automated and Decentralized

Research Aim: This study will analyze the role of AI and blockchains in making various segments of financial markets (banking, insurance, investment, stock market, etc.) automated and decentralized. It will find how AI and blockchains can eliminate the part of intimidators and commission charging players such as large banks and corporations to make the economy and financial system more efficient and cheaper. Therefore, it will study applications of various AI and blockchain models to show how they can affect economic governance.

Topic 3: AI and Healthcare- A Comparative Analysis of the Machine Learning (ML) and Deep Learning Models for Cancer Diagnosis

Research Aim: This study aims to identify the role of AI in modern healthcare. It will analyze the efficacy of the contemporary ML and DL models for cancer diagnosis. It will find how these models diagnose cancer, which technology ML or DL does it better, and how much better efficient. Moreover, it will also discuss criticism of these models and ways to improve them for better results.

Topic 4: Are AI and Big Data Analytics New Tools for Digital Innovation? An Assessment of Available Blockchain and Data Analytics Tools for Startups Development

Research Aim: This study aims to assess the role of present AI and data analytics tools for startups development. It will identify how modern startups use these technologies in their development stages to innovate and increase their effectiveness. Moreover, it will analyze its macroeconomic effects by examining its role in speeding up the startup culture, creating more employment, and rising incomes.

Topic 5: The Role of AI and Robotics in Economic Growth and Development- A Case of Emerging Economies

Research Aim: This study aims to find the impact of AI and Robotics on economic growth and development in emerging economies. It will identify how AI and Robotics speed up production and other business-related processes in emerging economies, create more employment, and raise aggregate income levels. Moreover, it will see how it leads to innovation and increasing attention towards learning modern skills such as web development, data analytics, data science, etc. Lastly, it will use two or three emerging countries as a case study to show the analysis.

Artificial Intelligence Topics

Topic 1: machine learning and artificial intelligence in the next generation wearable devices.

Research Aim: This study will aim to understand the role of machine learning and big data in the future of wearables. The research will focus on how an individual’s health and wellbeing can be improved with devices that are powered by AI. The study will first focus on the concept of ML and its implications in various fields. Then, it will be narrowed down to the role of machine learning in the future of wearable devices and how it can help individuals improve their daily routine and lifestyle and move towards a better and healthier life. The research will then conclude how ML will play its role in the future of wearables and help people improve their well-being.

Topic 2: Automation, machine learning and artificial intelligence in the field of medicine

Research Aim: Machine learning and artificial intelligence play a huge role in the field of medicine. From diagnosis to treatment, artificial intelligence is playing a crucial role in the healthcare industry today. This study will highlight how machine learning and automation can help doctors provide the right treatment to patients at the right time. With AI-powered machines, advanced diagnostic tests are being introduced to track diseases much before their occurrence. Moreover, AI is also helping in developing drugs at a faster pace and personalised treatment. All these aspects will be discussed in this study with relevant case studies.

Topic 3: Robotics and artificial intelligence – Assessing the Impact on business and economics

Research Aim: Businesses are changing the way they work due to technological advancements. Robotics and artificial intelligence have paved the way for new technologies and new methods of working. Many people argue that the introduction of robotics and AI will adversely impact humans as most of them might be replaced by AI-powered machines. While this cannot be denied, this artificial intelligence research topic will aim to understand how much the business will be impacted by these new technologies and assess the future of robotics and artificial intelligence in different businesses.

Topic 4: Artificial intelligence governance: Ethical, legal and social challenges

Research Aim: With artificial intelligence taking over the world, many people have reservations over the technology tracking people and their activities 24/7. They have called for strict governance for these intelligent systems and demanded that this technology be fair and transparent. This research will address these issues and present the ethical, legal, and social challenges governing AI-powered systems. The study will be qualitative in nature and will talk about the various ways through which artificial intelligence systems can be governed. It will also address the challenges that will hinder fair and transparent governance.

Topic 5: Will quantum computing improve artificial intelligence? An analysis

Research Aim: Quantum computing (QC) is set to revolutionize the field of artificial intelligence. According to experts, quantum computing combined with artificial intelligence will change medicine, business, and the economy. This research will first introduce the concept of quantum computing and will explain how powerful it is. The study will then talk about how quantum computing will change and help increase the efficiency of artificially intelligent systems. Examples of algorithms that quantum computing utilises will also be presented to help explain how this field of computer science will help improve artificial intelligence.

Topic 6: The role of deep learning in building intelligent systems

Research Aim: Deep learning, an essential branch of artificial intelligence, utilizes neural networks to assess the various factors similar to a human neural system. This research will introduce the concept of deep learning and discuss how it works in artificial intelligence. Deep learning algorithms will also be explored in this study to have a deeper understanding of this artificial intelligence topic. Using case examples and evidence, the research will explore how deep learning assists in creating machines that are intelligent and how they can process information like a human being. The various applications of deep learning will also be discussed in this study.

Topic 7: Evaluating the role of natural language processing in artificial intelligence

Research Aim: Natural language processing (NLP) is an essential element of artificial intelligence. It provides systems and machines with the ability to read, understand and interpret the human language. With the help of natural language processing, systems can even measure sentiments and predict which parts of human language are important. This research will aim to evaluate the role of this language in the field of artificial intelligence. It will further assist in understanding how natural language processing helps build intelligent systems that various organizations can use. Furthermore, the various applications of NLP will also be discussed.

Topic 8: Application of computer vision in building intelligent systems

Research Aim: Computer vision in the field of artificial intelligence makes systems so smart that they can analyze and understand images and pictures. These machines then derive some intelligence from the image that has been fed to the system. This research will first aim to understand computer vision and its role in artificial intelligence. A framework will be presented that will explain the working of computer vision in artificial intelligence. This study will present the applications of computer vision to clarify further how artificial intelligence uses computer vision to build smart systems.

Topic 9: Analysing the use of the IoT in artificial intelligence

Research Aim: The Internet of things and artificial intelligence are two separate, powerful tools. IoT can connect devices wirelessly, which can perform a set of actions without human intervention. When this powerful tool is combined with artificial intelligence, systems become extremely powerful to simulate human behaviour and make decisions without human interference. This artificial intelligence topic will aim to analyze the use of the internet of things in artificial intelligence. Machines that use IoT and AI will be analyzed, and the study will present how human behaviour is simulated so accurately.

Topic 10: Recommender systems – exploring its power in e-commerce

Research Aim: Recommender systems use algorithms to offer relevant suggestions to users. Be it a product, a service, a search result, or a movie/TV show/series. Users receive tons of recommendations after searching for a particular product or browsing their favourite TV shows list. With the help of AI, recommender systems can offer relevant and accurate suggestions to users. The main aim of this research will be to explore the use of recommender systems in e-commerce. Industry giants use this tool to help customers find the product or service they are looking for and make the right decision. This research will discuss where recommender systems are used, how they are implemented, and their results for e-commerce businesses.

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How to find artificial intelligence dissertation topics.

To find artificial intelligence dissertation topics:

• Study recent AI advancements.
• Explore ethical concerns.
• Investigate AI in specific industries.
• Analyze AI’s societal impact.
• Consider human-AI interaction.
• Select a topic aligning with your expertise and passion.

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177 Great Artificial Intelligence Research Paper Topics to Use

In this top-notch post, we will look at the definition of artificial intelligence, its applications, and writing tips on how to come up with AI topics. Finally, we shall lock at top artificial intelligence research topics for your inspiration.

What Is Artificial Intelligence?

It refers to intelligence as demonstrated by machines, unlike that which animals and humans display. The latter involves emotionality and consciousness. The field of AI has gained proliferation in recent days, with many scientists investing their time and effort in research.

How To Develop Topics in Artificial Intelligence

Developing AI topics is a critical thinking process that also incorporates a lot of creativity. Due to the ever-dynamic nature of the discipline, most students find it hard to develop impressive topics in artificial intelligence. However, here are some general rules to get you started:

Read widely on the subject of artificial intelligence Have an interest in news and other current updates about AI Consult your supervisor

Once you are ready with these steps, nothing is holding you from developing top-rated topics in artificial intelligence. Now let’s look at what the pros have in store for you.

Artificial Intelligence Research Paper Topics

• The role of artificial intelligence in evolving the workforce
• Are there tasks that require unique human abilities apart from machines?
• The transformative economic impact of artificial intelligence
• Managing a global autonomous arms race in the face of AI
• The legal and ethical boundaries of artificial intelligence
• Is the destructive role of AI more than its constructive role in society?
• How to build AI algorithms to achieve the far-reaching goals of humans
• How privacy gets compromised with the everyday collection of data
• How businesses and governments can suffer at the hands of AI
• Is it possible for AI to devolve into social oppression?
• Augmentation of the work humans do through artificial intelligence
• The role of AI in monitoring and diagnosing capabilities

Artificial Intelligence Topics For Presentation

• How AI helps to uncover criminal activity and solve serial crimes
• The place of facial recognition technologies in security systems
• How to use AI without crossing an individual’s privacy
• What are the disadvantages of using a computer-controlled robot in performing tasks?
• How to develop systems endowed with intellectual processes
• The challenge of programming computers to perform complex tasks
• Discuss some of the mathematical theorems for artificial intelligence systems
• The role of computer processing speed and memory capacity in AI
• Can computer machines achieve the performance levels of human experts?
• Discuss the application of artificial intelligence in handwriting recognition
• A case study of the key people involved in developing AI systems
• Computational aesthetics when developing artificial intelligence systems

Topics in AI For Tip-Top Grades

• Describe the necessities for artificial programming language
• The impact of American companies possessing about 2/3 of investments in AI
• The relationship between human neural networks and A.I
• The role of psychologists in developing human intelligence
• How to apply past experiences to analogous new situations
• How machine learning helps in achieving artificial intelligence
• The role of discernment and human intelligence in developing AI systems
• Discuss the various methods and goals in artificial intelligence
• What is the relationship between applied AI, strong AI, and cognitive simulation
• Discuss the implications of the first AI programs
• Logical reasoning and problem-solving in artificial intelligence
• Challenges involved in controlled learning environments

AI Research Topics For High School Students

• How quantum computing is affecting artificial intelligence
• The role of the Internet of Things in advancing artificial intelligence
• Using Artificial intelligence to enable machines to perform programming tasks
• Why do machines learn automatically without human hand holding
• Implementing decisions based on data processing in the human mind
• Describe the web-like structure of artificial neural networks
• Machine learning algorithms for optimal functions through trial and error
• A case study of Google’s AlphaGo computer program
• How robots solve problems in an intelligent manner
• Evaluate the significant role of M.I.T.’s artificial intelligence lab
• A case study of Robonaut developed by NASA to work with astronauts in space
• Discuss natural language processing where machines analyze language and speech

Argument Debate Topics on AI

• How chatbots use ML and N.L.P. to interact with the users
• How do computers use and understand images?
• The impact of genetic engineering on the life of man
• Why are micro-chips not recommended in human body systems?
• Can humans work alongside robots in a workplace system?
• Have computers contributed to the intrusion of privacy for many?
• Why artificial intelligence systems should not be made accessible to children
• How artificial intelligence systems are contributing to healthcare problems
• Does artificial intelligence alleviate human problems or add to them?
• Why governments should put more stringent measures for AI inventions
• How artificial intelligence is affecting the character traits of children born
• Is virtual reality taking people out of the real-world situation?

Quality AI Topics For Research Paper

• The use of recommender systems in choosing movies and series
• Collaborative filtering in designing systems
• How do developers arrive at a content-based recommendation
• Creation of systems that can emulate human tasks
• How IoT devices generate a lot of data
• Artificial intelligence algorithms convert data to useful, actionable results.
• How AI is progressing rapidly with the 5G technology
• How to develop robots with human-like characteristics
• Developing Google search algorithms
• The role of artificial intelligence in developing autonomous weapons
• Discuss the long-term goal of artificial intelligence
• Will artificial intelligence outperform humans at every cognitive task?

Computer Science AI Topics

• Computational intelligence magazine in computer science
• Swarm and evolutionary computation procedures for college students
• Discuss computational transactions on intelligent transportation systems
• The structure and function of knowledge-based systems
• A review of the artificial intelligence systems in developing systems
• Conduct a review of the expert systems with applications
• Critique the various foundations and trends in information retrieval
• The role of specialized systems in transactions on knowledge and data engineering
• An analysis of a journal on ambient intelligence and humanized computing
• Discuss the various computer transactions on cognitive communications and networking
• What is the role of artificial intelligence in medicine?
• Computer engineering applications of artificial intelligence

AI Ethics Topics

• How the automation of jobs is going to make many jobless
• Discuss inequality challenges in distributing wealth created by machines
• The impact of machines on human behavior and interactions
• How artificial intelligence is going to affect how we act accordingly
• The process of eliminating bias in Artificial intelligence: A case of racist robots
• Measures that can keep artificial intelligence safe from adversaries
• Protecting artificial intelligence discoveries from unintended consequences
• How a man can stay in control despite the complex, intelligent systems
• Robot rights: A case of how man is mistreating and misusing robots
• The balance between mitigating suffering and interfering with set ethics
• The role of artificial intelligence in negative outcomes: Is it worth it?
• How to ethically use artificial intelligence for bettering lives

Advanced AI Topics

• Discuss how long it will take until machines greatly supersede human intelligence
• Is it possible to achieve superhuman artificial intelligence in this century?
• The impact of techno-skeptic prediction on the performance of A.I
• The role of quarks and electrons in the human brain
• The impact of artificial intelligence safety research institutes
• Will robots be disastrous for humanity shortly?
• Robots: A concern about consciousness and evil
• Discuss whether a self-driving car has a subjective experience or not
• Should humans worry about machines turning evil in the end?
• Discuss how machines exhibit goal-oriented behavior in their functions
• Should man continue to develop lethal autonomous weapons?
• What is the implication of machine-produced wealth?

AI Essay Topics Technology

• Discuss the implication of the fourth technological revelation in cloud computing
• Big database technologies used in sensors
• The combination of technologies typical of the technological revolution
• Key determinants of the civilization process of industry 4.0
• Discuss some of the concepts of technological management
• Evaluate the creation of internet-based companies in the U.S.
• The most dominant scientific research in the field of artificial intelligence
• Discuss the application of artificial intelligence in the literature
• How enterprises use artificial intelligence in blockchain business operations
• Discuss the various immersive experiences as a result of digital AI
• Elaborate on various enterprise architects and technology innovations
• Mega-trends that are future impacts on business operations

Interesting Topics in AI

• The role of the industrial revolution of the 18 th century in A.I
• The electricity era of the late 19 th century and its contribution to the development of robots
• How the widespread use of the internet contributes to the AI revolution
• The short-term economic crisis as a result of artificial intelligence business technologies
• Designing and creating artificial intelligence production processes
• Analyzing large collections of information for technological solutions
• How biotechnology is transforming the field of agriculture
• Innovative business projects that work using artificial intelligence systems
• Process and marketing innovations in the 21 st century
• Medical intelligence in the era of smart cities
• Advanced data processing technologies in developed nations
• Discuss the development of stelliform technologies

Good Research Topics For AI

• Development of new technological solutions in I.T
• Innovative organizational solutions that develop machine learning
• How to develop branches of a knowledge-based economy
• Discuss the implications of advanced computerized neural network systems
• How to solve complex problems with the help of algorithms
• Why artificial intelligence systems are predominating over their creator
• How to determine artificial emotional intelligence
• Discuss the negative and positive aspects of technological advancement
• How internet technology companies like Facebook are managing large social media portals
• The application of analytical business intelligence systems
• How artificial intelligence improves business management systems
• Strategic and ongoing management of artificial intelligence systems

Graduate AI NLP Research Topics

• Morphological segmentation in artificial intelligence
• Sentiment analysis and breaking machine language
• Discuss input utterance for language interpretation
• Festival speech synthesis system for natural language processing
• Discuss the role of the Google language translator
• Evaluate the various analysis methodologies in N.L.P.
• Native language identification procedure for deep analytics
• Modular audio recognition framework
• Deep linguistic processing techniques
• Fact recognition and extraction techniques
• Dialogue and text-based applications
• Speaker verification and identification systems

Controversial Topics in AI

• Ethical implication of AI in movies: A case study of The Terminator
• Will machines take over the world and enslave humanity?
• Does human intelligence paint a dark future for humanity?
• Ethical and practical issues of artificial intelligence
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8 Best Topics for Research and Thesis in Artificial Intelligence

Imagine a future in which intelligence is not restricted to humans!!! A future where machines can think as well as humans and work with them to create an even more exciting universe. While this future is still far away, Artificial Intelligence has still made a lot of advancement in these times. There is a lot of research being conducted in almost all fields of AI like Quantum Computing, Healthcare, Autonomous Vehicles, Internet of Things , Robotics , etc. So much so that there is an increase of 90% in the number of annually published research papers on Artificial Intelligence since 1996. Keeping this in mind, if you want to research and write a thesis based on Artificial Intelligence, there are many sub-topics that you can focus on. Some of these topics along with a brief introduction are provided in this article. We have also mentioned some published research papers related to each of these topics so that you can better understand the research process.

So without further ado, let’s see the different Topics for Research and Thesis in Artificial Intelligence!

1. Machine Learning

Machine Learning involves the use of Artificial Intelligence to enable machines to learn a task from experience without programming them specifically about that task. (In short, Machines learn automatically without human hand holding!!!) This process starts with feeding them good quality data and then training the machines by building various machine learning models using the data and different algorithms. The choice of algorithms depends on what type of data do we have and what kind of task we are trying to automate. However, generally speaking, Machine Learning Algorithms are divided into 3 types i.e. Supervised Machine Learning Algorithms, Unsupervised Machine Learning Algorithms , and Reinforcement Machine Learning Algorithms.

2. Deep Learning

Deep Learning is a subset of Machine Learning that learns by imitating the inner working of the human brain in order to process data and implement decisions based on that data. Basically, Deep Learning uses artificial neural networks to implement machine learning. These neural networks are connected in a web-like structure like the networks in the human brain (Basically a simplified version of our brain!). This web-like structure of artificial neural networks means that they are able to process data in a nonlinear approach which is a significant advantage over traditional algorithms that can only process data in a linear approach. An example of a deep neural network is RankBrain which is one of the factors in the Google Search algorithm.

3. Reinforcement Learning

Reinforcement Learning is a part of Artificial Intelligence in which the machine learns something in a way that is similar to how humans learn. As an example, assume that the machine is a student. Here the hypothetical student learns from its own mistakes over time (like we had to!!). So the Reinforcement Machine Learning Algorithms learn optimal actions through trial and error. This means that the algorithm decides the next action by learning behaviors that are based on its current state and that will maximize the reward in the future. And like humans, this works for machines as well! For example, Google’s AlphaGo computer program was able to beat the world champion in the game of Go (that’s a human!) in 2017 using Reinforcement Learning.

4. Robotics

Robotics is a field that deals with creating humanoid machines that can behave like humans and perform some actions like human beings. Now, robots can act like humans in certain situations but can they think like humans as well? This is where artificial intelligence comes in! AI allows robots to act intelligently in certain situations. These robots may be able to solve problems in a limited sphere or even learn in controlled environments. An example of this is Kismet , which is a social interaction robot developed at M.I.T’s Artificial Intelligence Lab. It recognizes the human body language and also our voice and interacts with humans accordingly. Another example is Robonaut , which was developed by NASA to work alongside the astronauts in space.

5. Natural Language Processing

It’s obvious that humans can converse with each other using speech but now machines can too! This is known as Natural Language Processing where machines analyze and understand language and speech as it is spoken (Now if you talk to a machine it may just talk back!). There are many subparts of NLP that deal with language such as speech recognition, natural language generation, natural language translation , etc. NLP is currently extremely popular for customer support applications, particularly the chatbot . These chatbots use ML and NLP to interact with the users in textual form and solve their queries. So you get the human touch in your customer support interactions without ever directly interacting with a human.

Some Research Papers published in the field of Natural Language Processing are provided here. You can study them to get more ideas about research and thesis on this topic.

6. Computer Vision

The internet is full of images! This is the selfie age, where taking an image and sharing it has never been easier. In fact, millions of images are uploaded and viewed every day on the internet. To make the most use of this huge amount of images online, it’s important that computers can see and understand images. And while humans can do this easily without a thought, it’s not so easy for computers! This is where Computer Vision comes in. Computer Vision uses Artificial Intelligence to extract information from images. This information can be object detection in the image, identification of image content to group various images together, etc. An application of computer vision is navigation for autonomous vehicles by analyzing images of surroundings such as AutoNav used in the Spirit and Opportunity rovers which landed on Mars.

7. Recommender Systems

When you are using Netflix, do you get a recommendation of movies and series based on your past choices or genres you like? This is done by Recommender Systems that provide you some guidance on what to choose next among the vast choices available online. A Recommender System can be based on Content-based Recommendation or even Collaborative Filtering. Content-Based Recommendation is done by analyzing the content of all the items. For example, you can be recommended books you might like based on Natural Language Processing done on the books. On the other hand, Collaborative Filtering is done by analyzing your past reading behavior and then recommending books based on that.

8. Internet of Things

Artificial Intelligence deals with the creation of systems that can learn to emulate human tasks using their prior experience and without any manual intervention. Internet of Things , on the other hand, is a network of various devices that are connected over the internet and they can collect and exchange data with each other. Now, all these IoT devices generate a lot of data that needs to be collected and mined for actionable results. This is where Artificial Intelligence comes into the picture. Internet of Things is used to collect and handle the huge amount of data that is required by the Artificial Intelligence algorithms. In turn, these algorithms convert the data into useful actionable results that can be implemented by the IoT devices.

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Research Topics & Ideas

Artifical Intelligence (AI) and Machine Learning (ML)

If you’re just starting out exploring AI-related research topics for your dissertation, thesis or research project, you’ve come to the right place. In this post, we’ll help kickstart your research topic ideation process by providing a hearty list of research topics and ideas , including examples from past studies.

PS – This is just the start…

We know it’s exciting to run through a list of research topics, but please keep in mind that this list is just a starting point . To develop a suitable research topic, you’ll need to identify a clear and convincing research gap , and a viable plan  to fill that gap.

If this sounds foreign to you, check out our free research topic webinar that explores how to find and refine a high-quality research topic, from scratch. Alternatively, if you’d like hands-on help, consider our 1-on-1 coaching service .

AI-Related Research Topics & Ideas

Below you’ll find a list of AI and machine learning-related research topics ideas. These are intentionally broad and generic , so keep in mind that you will need to refine them a little. Nevertheless, they should inspire some ideas for your project.

• Developing AI algorithms for early detection of chronic diseases using patient data.
• The use of deep learning in enhancing the accuracy of weather prediction models.
• Machine learning techniques for real-time language translation in social media platforms.
• AI-driven approaches to improve cybersecurity in financial transactions.
• The role of AI in optimizing supply chain logistics for e-commerce.
• Investigating the impact of machine learning in personalized education systems.
• The use of AI in predictive maintenance for industrial machinery.
• Developing ethical frameworks for AI decision-making in healthcare.
• The application of ML algorithms in autonomous vehicle navigation systems.
• AI in agricultural technology: Optimizing crop yield predictions.
• Machine learning techniques for enhancing image recognition in security systems.
• AI-powered chatbots: Improving customer service efficiency in retail.
• The impact of AI on enhancing energy efficiency in smart buildings.
• Deep learning in drug discovery and pharmaceutical research.
• The use of AI in detecting and combating online misinformation.
• Machine learning models for real-time traffic prediction and management.
• AI applications in facial recognition: Privacy and ethical considerations.
• The effectiveness of ML in financial market prediction and analysis.
• Developing AI tools for real-time monitoring of environmental pollution.
• Machine learning for automated content moderation on social platforms.
• The role of AI in enhancing the accuracy of medical diagnostics.
• AI in space exploration: Automated data analysis and interpretation.
• Machine learning techniques in identifying genetic markers for diseases.
• AI-driven personal finance management tools.
• The use of AI in developing adaptive learning technologies for disabled students.

AI & ML Research Topic Ideas (Continued)

• Machine learning in cybersecurity threat detection and response.
• AI applications in virtual reality and augmented reality experiences.
• Developing ethical AI systems for recruitment and hiring processes.
• Machine learning for sentiment analysis in customer feedback.
• AI in sports analytics for performance enhancement and injury prevention.
• The role of AI in improving urban planning and smart city initiatives.
• Machine learning models for predicting consumer behaviour trends.
• AI and ML in artistic creation: Music, visual arts, and literature.
• The use of AI in automated drone navigation for delivery services.
• Developing AI algorithms for effective waste management and recycling.
• Machine learning in seismology for earthquake prediction.
• AI-powered tools for enhancing online privacy and data protection.
• The application of ML in enhancing speech recognition technologies.
• Investigating the role of AI in mental health assessment and therapy.
• Machine learning for optimization of renewable energy systems.
• AI in fashion: Predicting trends and personalizing customer experiences.
• The impact of AI on legal research and case analysis.
• Developing AI systems for real-time language interpretation for the deaf and hard of hearing.
• Machine learning in genomic data analysis for personalized medicine.
• AI-driven algorithms for credit scoring in microfinance.
• The use of AI in enhancing public safety and emergency response systems.
• Machine learning for improving water quality monitoring and management.
• AI applications in wildlife conservation and habitat monitoring.
• The role of AI in streamlining manufacturing processes.
• Investigating the use of AI in enhancing the accessibility of digital content for visually impaired users.

Recent AI & ML-Related Studies

While the ideas we’ve presented above are a decent starting point for finding a research topic in AI, they are fairly generic and non-specific. So, it helps to look at actual studies in the AI and machine learning space to see how this all comes together in practice.

Below, we’ve included a selection of AI-related studies to help refine your thinking. These are actual studies,  so they can provide some useful insight as to what a research topic looks like in practice.

• An overview of artificial intelligence in diabetic retinopathy and other ocular diseases (Sheng et al., 2022)
• HOW DOES ARTIFICIAL INTELLIGENCE HELP ASTRONOMY? A REVIEW (Patel, 2022)
• Editorial: Artificial Intelligence in Bioinformatics and Drug Repurposing: Methods and Applications (Zheng et al., 2022)
• Review of Artificial Intelligence and Machine Learning Technologies: Classification, Restrictions, Opportunities, and Challenges (Mukhamediev et al., 2022)
• Will digitization, big data, and artificial intelligence – and deep learning–based algorithm govern the practice of medicine? (Goh, 2022)
• Flower Classifier Web App Using Ml & Flask Web Framework (Singh et al., 2022)
• Object-based Classification of Natural Scenes Using Machine Learning Methods (Jasim & Younis, 2023)
• Automated Training Data Construction using Measurements for High-Level Learning-Based FPGA Power Modeling (Richa et al., 2022)
• Artificial Intelligence (AI) and Internet of Medical Things (IoMT) Assisted Biomedical Systems for Intelligent Healthcare (Manickam et al., 2022)
• Critical Review of Air Quality Prediction using Machine Learning Techniques (Sharma et al., 2022)
• Artificial Intelligence: New Frontiers in Real–Time Inverse Scattering and Electromagnetic Imaging (Salucci et al., 2022)
• Machine learning alternative to systems biology should not solely depend on data (Yeo & Selvarajoo, 2022)
• Measurement-While-Drilling Based Estimation of Dynamic Penetrometer Values Using Decision Trees and Random Forests (García et al., 2022).
• Artificial Intelligence in the Diagnosis of Oral Diseases: Applications and Pitfalls (Patil et al., 2022).
• Automated Machine Learning on High Dimensional Big Data for Prediction Tasks (Jayanthi & Devi, 2022)
• Breakdown of Machine Learning Algorithms (Meena & Sehrawat, 2022)
• Technology-Enabled, Evidence-Driven, and Patient-Centered: The Way Forward for Regulating Software as a Medical Device (Carolan et al., 2021)
• Machine Learning in Tourism (Rugge, 2022)
• Towards a training data model for artificial intelligence in earth observation (Yue et al., 2022)
• Classification of Music Generality using ANN, CNN and RNN-LSTM (Tripathy & Patel, 2022)

As you can see, these research topics are a lot more focused than the generic topic ideas we presented earlier. So, in order for you to develop a high-quality research topic, you’ll need to get specific and laser-focused on a specific context with specific variables of interest.  In the video below, we explore some other important things you’ll need to consider when crafting your research topic.

Get 1-On-1 Help

If you’re still unsure about how to find a quality research topic, check out our Research Topic Kickstarter service, which is the perfect starting point for developing a unique, well-justified research topic.

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Topics for Master Theses at the Chair for Artificial Intelligence

Smart city / smart mobility.

• Traffic Forecasting with Graph Attention Networks
• Learning Traffic Simulation Parameters with Reinforcement Learning
• Extending the Mannheim Mobility Model with Individual Bike Traffic

AI for Business Process Management

• Applications of deep neural networks in Online Conformance Checking
• Accurate Business Process Simulation (BPS) models based on deep learning
• How to tackle concept drift in Predictive Process Monitoring (PPM)

Explainable and Fair Machine Learning

• Extracting Causal Models from Module Handbooks for Explainable Student Success Prediction
• Investigating Different Techniques to Improve Fairness for Tabular Data
• Data-induced Bias in Social Simulations
• Learing Causal Models from Tabular Data

Human Activity and Goal Recognition

• Reinforcement Learning for Goal Recognition
• Investigating the Difficulty of Goal Recognition Problems
• Enhancing Audio-Based Activity Recognition through Autoencoder Encoded Representations
• Activity Recognition from Audio Data in a Kitchen Scenario
• Speaker Diarization and Identification in a Meeting Scenario

Machine Learning for Supply Chain Optimization

• Time Series Analysis & Forecasting of Events (Sales, Demand, etc.)
• Integrated vs. separated optimization: theory and practice
• Leveraging deep learning to build a versatile end-to-end inventory management model
• Reinforcement learning for the vehicle routing problem
• Metaheuristics in SCM: Overview and benchmark study
• Finetuning parametrized inventory management system

Anomaly Detection on Server Logs

• Analyse real-life server logs stored in an existing opensearch library (Graylog)
• Learning values describing normal behavior of servers and detect anomalies in logged messages
• Implement simple alert system (existing systems like Icinga can be used)
• Prepare results in a (Web-)Gui
• Creating eLearning Recommender Systems using NLP
• Hyperparameter Optimization for Symbolic Knowledge Graph Completion
• Applying Symbolic Knowledge Graph Completion to Inductive Link Prediction
• Data Augmentation via Generative Adversarial Networks (GANs)
• Autoencoders for Sparse, Irregularly Spaced Time Series Sequences

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Thesis Topics

This list includes topics for potential bachelor or master theses, guided research, projects, seminars, and other activities. Search with Ctrl+F for desired keywords, e.g. ‘machine learning’ or others.

PLEASE NOTE: If you are interested in any of these topics, click the respective supervisor link to send a message with a simple CV, grade sheet, and topic ideas (if any). We will answer shortly.

Of course, your own ideas are always welcome!

Generating images for training Image Super-Resolution models

Type of work:.

• Guided Research
• deep learning
• single image super-resolution
• syntethic datasets / dataset generation

Description:

Typically, Single Image Super-Resolution (SISR) models train on expressive real images (e.g., DIV2K and/or Flickr2K). This work aims to rethink the need of real images for training SISR models. In other words: do we need real images to learn useful upscaling mappings? For that, the proposed work should investigate different methods for generating artificial datasets that might be suitable for SISR models, see [2]. The resulting models trained on the artifically generated training sets should then be evaluated on real test datasets (Set5, Set14, BSDS100, …) and analyze its outcomes.

• [1] Hitchhiker’s Guide to Super-Resolution: Introduction and Recent Advances
• [2] Learning to See by Looking at Noise

Machine Learning-based Surrogate Models for Accelerated Flow Simulations

• Machine Learning
• Microstructure Property Prediction
• Surrogate Modeling

Surrogate modeling involves creating a simplified and computationally efficient machine learning model that approximates the behavior of a complex system, enabling faster predictions and analysis. For complex systems such as fluids, their behavior is governed by partial differential equations. By solving these PDEs, one can predict how a fluid behaves in a specific environment and conditions. The computational time and resources needed to solve a PDE system depend on the size of the fluid domain and the complexity of the PDE. In practical applications where multiple environments and conditions are to be studied, it becomes very expensive to generate many solutions to such PDEs. Here, modern machine learning or deep learning-based surrogate models which offer fast inference times in the online phase are of interest.

In this work, the focus will be on developing surrogate models to replace the flow simulations in fiber-reinforced composite materials governed by the Navier-Stokes equation. Using a conventional PDE solver, a dataset of reference solutions was generated for supervised learning. In this thesis, your tasks will include the conceptualization and implementation of different ML architectures suited for this task, training and evaluation of the models on the available dataset. You will start with simple fully connected architectures and later extend it to 3D convolutional architectures. Also of interest is the infusion of the available domain knowledge into the ML models, known as physics-informed machine learning.

By applying ML to fluid applications, you will learn to acquire the right amount of domain specific knowledge and analyze your results together with domain experts from the field.

If you are interested, please send me an email with your Curriculum Vitae (CV), your Transcript of records and a short statement about your background in related topics.

References:

• Santos, J.E., Xu, D., Jo, H., Landry, C.J., Prodanović, M., Pyrcz, M.J., 2020. PoreFlow-Net: A 3D convolutional neural network to predict fluid flow through porous media. Advances in Water Resources 138, 103539. https://doi.org/10.1016/j.advwatres.2020.103539
• Kashefi, A., Mukerji, T., 2021. Point-cloud deep learning of porous media for permeability prediction. Physics of Fluids 33, 097109. https://doi.org/10.1063/5.0063904

Segmentation of Shoe Trace Images

• benchmarking
• image segmentation
• keypoint extraction
• self-attention

Help fight crime with AI! The DFKI and the Artificial Intelligence Transferlab of the State Criminal Police Office (Landskriminalamt) are searching for master candidates eager to apply their knowledge in AI to support crime scene analysis. The student will have the opportunity to visit the Transferlab in Mainz for an in-depth introduction to the topic and full access to DFKI’s computing cluster infrastructure.

General goal: improve identification of specific markers normally present in shoe trace images acquired in crime scenes.

Specific goals:

• [benchmarking] evaluate existing image segmentation models in the context of shoe trace analysis;
• [research] propose a segmentation model combining semantics and keypoint information tailored to specific markers present in crime scene photographs;
• [research] assess model performance on labeled data.
• [research] definition of limits and requirements for the existing training- and test-data.

Retrieval of Shoe Sole Images

• graph neural networks
• image retrieval

General goal: improve retrieval of shoe sole images acquired in laboratory, i.e. under controlled conditions and used as reference by forensics specialists.

• [benchmarking] evaluate existing image retrieval approaches in the context of shoe trace recognition;
• [research] propose a graph network architecture based on keypoint information extracted from the images.
• [research] evaluate performance of proposed model against existing methods.

Sherlock Holmes goes AI - Generative comics art of detective scenes and identikits

• Bias in image generation models
• Deep Learning Frameworks
• Frontend visualization
• Speech-To-Text, Text-to-Image Models
• Transformers, Diffusion Models, Hugging Face

Sherlock Holmes is taking the statement of the witness. The witness is describing the appearance of the perpetrator and the forensic setting they still remember. Your task as the AI investigator will be to generate a comic sketch of the scene and phantom images of the accused person based on the spoken statement of the witness. For this you will use state-of-the-art transformers and visualize the output in an application. As AI investigator you will detect, qualify and quantify bias in the images which are produced by different generation models you have chosen.

This work is embedded in the DFKI KI4Pol lab together with the law enforcement agencies. The stories are fictional you will not work on true crime.

Requirements:

• German level B1/2 or equivalent
• Outstanding academic achievements
• Motivational cover letter

Generative Adversarial Networks for Agricultural Yield Prediction

• Deep Learning
• Generative Adversarial Networks
• Yield Prediction

Agricultural yield prediction has been an essential research area for many years, as it helps farmers and policymakers to make informed decisions about crop management, resource allocation, and food security. Computer vision and machine learning techniques have shown promising results in predicting crop yield, but there is still room for improvement in the accuracy and precision of these predictions. Generative Adversarial Networks (GANs) are a type of neural network that has shown success in generating realistic images, which can be leveraged for the prediction of agricultural yields.

• ‘Goodfellow, Ian, et al. “Generative adversarial networks.” Communications of the ACM 63.11 (2020)': 139-144.
• ‘Z. Xu, J. Du, J. Wang, C. Jiang and Y. Ren, “Satellite Image Prediction Relying on GAN and LSTM Neural Networks,” ICC 2019 - 2019 IEEE International Conference on Communications (ICC), Shanghai, China, 2019, pp. 1-6, doi’: 10.1109/ICC.2019.8761462.
• ‘Drees, Lukas, et al. “Temporal prediction and evaluation of brassica growth in the field using conditional generative adversarial networks.” Computers and Electronics in Agriculture 190 (2021)': 106415

Knowledge Graphs für das Immobilienmanagement

• corporate memory
• knowledge graph

Das Management von Immobilien ist komplex und umfasst verschiedenste Informationsquellen und -objekte zur Durchführung der Prozesse. Ein Corporate Memory kann hier unterstützen in der Analyse und Abbildung des Informationsraums um Wissensdienste zu ermöglichen. Aufgabe ist es, eine Ontologie für das Immobilienmanagement zu entwerfen und beispielhaft ein Szenario zu entwickeln. Für die Materialien und Anwendungspartner sind gute Deutschkenntnisse erforderlich.

Fault and Efficiency Prediction in High Performance Computing

• Master Thesis
• event data modelling
• survival modelling
• time series

High use of resources are thought to be an indirect cause of failures in large cluster systems, but little work has systematically investigated the role of high resource usage on system failures, largely due to the lack of a comprehensive resource monitoring tool which resolves resource use by job and node. This project studies log data of the DFKI Kaiserslautern high performance cluster to consider the predictability of adverse events (node failure, GPU freeze), energy usage and identify the most relevant data within. The second supervisor for this work is Joachim Folz.

Data is available via Prometheus -compatible system:

• Node exporter
• DCGM exporter
• Slurm exporter
• Linking Resource Usage Anomalies with System Failures from Cluster Log Data
• Deep Survival Models

Feel free to reach out if the topic sounds interesting or if you have ideas related to this work. We can then brainstorm a specific research question together. Link to my personal website.

Construction & Application of Enterprise Knowledge Graphs in the E-Invoicing Domain

• Guided Research Project
• knowledge graphs
• knowledge services
• linked data
• semantic web

In recent years knowledge graphs received a lot of attention as well in industry as in science. Knowledge graphs consist of entities and relationships between them and allow integrating new knowledge arbitrarily. Famous instances in industry are knowledge graphs by Microsoft, Google, Facebook or IBM. But beyond these ones, knowledge graphs are also adopted in more domain specific scenarios such as in e-Procurement, e-Invoicing and purchase-to-pay processes. The objective in theses and projects is to explore particular aspects of constructing and/or applying knowledge graphs in the domain of purchase-to-pay processes and e-Invoicing.

Anomaly detection in time-series

• explainability

Working on deep neural networks for making the time-series anomaly detection process more robust. An important aspect of this process is explainability of the decision taken by a network.

Time Series Forecasting Using transformer Networks

• time series forecasting
• transformer networks

Transformer networks have emerged as competent architecture for modeling sequences. This research will primarily focus on using transformer networks for forecasting time series (multivariate/ univariate) and may also involve fusing knowledge into the machine learning architecture.

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Currently Open Theses Topics

We offer these current topics directly for Bachelor and Master students at TU Darmstadt who can feel free to DIRECTLY contact the thesis advisor if you are interested in one of these topics. Excellent external students from another university may be accepted but are required to first email Jan Peters before contacting any other lab member for a thesis topic. Note that we cannot provide funding for any of these theses projects.

We highly recommend that you do either our robotics and machine learning lectures ( Robot Learning , Statistical Machine Learning ) or our colleagues ( Grundlagen der Robotik , Probabilistic Graphical Models and/or Deep Learning). Even more important to us is that you take both Robot Learning: Integrated Project, Part 1 (Literature Review and Simulation Studies) and Part 2 (Evaluation and Submission to a Conference) before doing a thesis with us.

In addition, we are usually happy to devise new topics on request to suit the abilities of excellent students. Please DIRECTLY contact the thesis advisor if you are interested in one of these topics. When you contact the advisor, it would be nice if you could mention (1) WHY you are interested in the topic (dreams, parts of the problem, etc), and (2) WHAT makes you special for the projects (e.g., class work, project experience, special programming or math skills, prior work, etc.). Supplementary materials (CV, grades, etc) are highly appreciated. Of course, such materials are not mandatory but they help the advisor to see whether the topic is too easy, just about right or too hard for you.

Only contact *ONE* potential advisor at the same time! If you contact a second one without first concluding discussions with the first advisor (i.e., decide for or against the thesis with her or him), we may not consider you at all. Only if you are super excited for at most two topics send an email to both supervisors, so that the supervisors are aware of the additional interest.

FOR FB16+FB18 STUDENTS: Students from other depts at TU Darmstadt (e.g., ME, EE, IST), you need an additional formal supervisor who officially issues the topic. Please do not try to arrange your home dept advisor by yourself but let the supervising IAS member get in touch with that person instead. Multiple professors from other depts have complained that they were asked to co-supervise before getting contacted by our advising lab member.

NEW THESES START HERE

Walk your network: investigating neural network’s location in Q-learning methods.

Scope: Master thesis Advisor: Theo Vincent and Boris Belousov Start: Flexible Topic:

Q-learning methods are at the heart of Reinforcement Learning. They have been shown to outperform humans on some complex tasks such as playing video games [1]. In robotics, where the action space is in most cases continuous, actor-critic methods are relying on Q-learning methods to learn the critic [2]. Although Q-learning methods have been extensively studied in the past, little focus has been placed on the way the online neural network is exploring the space of Q functions. Most approaches focus on crafting a loss that would make the agent learn better policies [3]. Here, we offer a thesis that focuses on the position of the online Q neural network in the space of Q functions. The student will first investigate this idea on simple problems before comparing the performance to strong baselines such as DQN or REM [1, 4] on Atari games. Depending on the result, the student might as well get into MuJoCo and compare the results with SAC [2]. The student will be welcome to propose some ideas as well.

Highly motivated students can apply by sending an email to [email protected] . Please attach your CV and clearly state why you are interested in this topic.

Requirements

• Strong Python programming skills
• Knowledge in Reinforcement Learning
• Experience with deep learning libraries is a plus

References [1] Mnih, Volodymyr, et al. "Human-level control through deep reinforcement learning." nature 518.7540 (2015): 529-533. [2] Haarnoja, Tuomas, et al. "Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor." International conference on machine learning. PMLR, 2018. [3] Hessel, Matteo, et al. "Rainbow: Combining improvements in deep reinforcement learning." Proceedings of the AAAI conference on artificial intelligence. Vol. 32. No. 1. 2018. [4] Agarwal, R., Schuurmans, D. & Norouzi, M.. (2020). An Optimistic Perspective on Offline Reinforcement Learning International Conference on Machine Learning (ICML).

Co-optimizing Hand and Action for Robotic Grasping of Deformable objects

This project aims to advance deformable object manipulation by co-optimizing robot gripper morphology and control policies. The project will involve utilizing existing simulation environments for deformable object manipulation [2] and implementing a method to jointly optimize gripper morphology and grasp policies within the simulation.

Required Qualification:

• Familiarity with deep learning libraries such as PyTorch or Tensorflow

Preferred Qualification:

• Attendance of the lectures "Statistical Machine Learning", "Computational Engineering and Robotics" and "Robot Learning"

Application Requirements:

• Curriculum Vitae
• Motivation letter explaining why you would like to work on this topic and why you are the perfect candidate

Interested students can apply by sending an e-mail to [email protected] and attaching the required documents mentioned above.

References: [1] Xu, Jie, et al. "An End-to-End Differentiable Framework for Contact-Aware Robot Design." Robotics: Science & Systems. 2021. [2] Huang, Isabella, et al. "DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets." arXiv preprint arXiv:2303.16138 (2023).

Geometry-Aware Diffusion Models for Robotics

In this thesis, you will work on developing an imitation learning algorithm using diffusion models for robotic manipulation tasks, such as the ones in [2, 3, 4], but taking into account the geometry of the task space.

If this sounds interesting, please send an email to [email protected] and [email protected] , and possibly attach your CV, highlighting the relevant courses you took in robotics and machine learning.

What's in it for you:

• You get to work on an exciting topic at the intersection of deep-learning and robotics
• We will supervise you closely throughout your thesis
• Depending on the results, we will aim for an international conference publication

Requirements:

• Be motivated -- we will support you a lot, but we expect you to contribute a lot too
• Robotics knowledge
• Experience setting up deep learning pipelines -- from data collection, architecture design, training, and evaluation
• PyTorch -- especially experience writing good parallelizable code (i.e., runs fast in the GPU)

References: [1] https://arxiv.org/abs/2112.10752 [2] https://arxiv.org/abs/2308.01557 [3] https://arxiv.org/abs/2209.03855 [4] https://arxiv.org/abs/2303.04137 [5] https://arxiv.org/abs/2205.09991

Learning Latent Representations for Embodied Agents

Interested students can apply by sending an E-Mail to [email protected] and attaching the required documents mentioned below.

• Experience with TensorFlow/PyTorch
• Familiarity with core Machine Learning topics
• Experience programming/controlling robots (either simulated or real world)
• Knowledgeable about different robot platforms (quadrupeds and bipedal robots)
• Resume / CV
• Cover letter explaining why this topic fits you well and why you are an ideal candidate

References: [1] Ho and Ermon. "Generative adversarial imitation learning" [2] Arenz, et al. "Efficient Gradient-Free Variational Inference using Policy Search"

Characterizing Fear-induced Adaptation of Balance by Inverse Reinforcement Learning

Interested students can apply by sending an E-Mail to [email protected] and attaching the required documents mentioned below.

• Basic knowledge of reinforcement learning
• Hand-on experience with reinforcement learning or inverse reinforcement learning
• Cognitive science background

References: [1] Maki, et al. "Fear of Falling and Postural Performance in the Elderly" [2] Davis et al. "The relationship between fear of falling and human postural control" [3] Ho and Ermon. "Generative adversarial imitation learning"

Timing is Key: CPGs for regularizing Quadruped Gaits learned with DRL

To tackle this problem we want to utilize Central Pattern Generators (CPGs), which can generate timings for ground contacts for the four feet. The policy gets rewarded for complying with the contact patterns of the CPGs. This leads to a straightforward way of regularizing and steering the policy to a natural gait without posing too strong restrictions on it. We first want to manually find fitting CPG parameters for different gait velocities and later move to learning those parameters in an end-to-end fashion.

Highly motivated students can apply by sending an E-Mail to [email protected] and attaching the required documents mentioned below.

Minimum Qualification:

• Good Python programming skills
• Basic knowledge of the PyTorch library
• Basic knowledge of Reinforcement Learning
• Good knowledge of the PyTorch library
• Basic knowledge of the MuJoCo simulator

References: [1] Cheng, Xuxin, et al. "Extreme Parkour with Legged Robots."

Damage-aware Reinforcement Learning for Deformable and Fragile Objects

Goal of this thesis will be the development and application of a model-based reinforcement learning method on real robots. Your tasks will include: 1. Setting up a simulation environment for deformable object manipulation 2. Utilizing existing models for stress and deformability prediction[1] 3. Implementing a reinforcement learning method to work in simulation and, if possible, on the real robot methods.

If you are interested in this thesis topic and believe you possess the necessary skills and qualifications, please submit your application, including a resume and a brief motivation letter explaining your interest and relevant experience. Please send your application to [email protected].

Required Qualification :

• Enthusiasm for and experience in robotics, machine learning, and simulation
• Strong programming skills in Python

Desired Qualification :

• Attendance of the lectures "Statistical Machine Learning", "Computational Engineering and Robotics" and (optionally) "Robot Learning"

References: [1] Huang, I., Narang, Y., Bajcsy, R., Ramos, F., Hermans, T., & Fox, D. (2023). DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets. arXiv preprint arXiv:2303.16138.

Imitation Learning meets Diffusion Models for Robotics

The objective of this thesis is to build upon prior research [2, 3] to establish a connection between Diffusion Models and Imitation Learning. We aim to explore how to exploit Diffusion Models and improve the performance of Imitation learning algorithms that interact with the world.

We welcome highly motivated students to apply for this opportunity by sending an email expressing their interest to Firas Al-Hafez ( [email protected] ) Julen Urain ( [email protected] ). Please attach your letter of motivation and CV, and clearly state why you are interested in this topic and why you are the ideal candidate for this position.

Required Qualification : 1. Strong Python programming skills 2. Basic Knowledge in Imitation Learning 3. Interest in Diffusion models, Reinforcement Learning

Desired Qualification : 1. Attendance of the lectures "Statistical Machine Learning", "Computational Engineering and Robotics" and/or "Reinforcement Learning: From Fundamentals to the Deep Approaches"

References: [1] Song, Yang, and Stefano Ermon. "Generative modeling by estimating gradients of the data distribution." Advances in neural information processing systems 32 (2019). [2] Ho, Jonathan, and Stefano Ermon. "Generative adversarial imitation learning." Advances in neural information processing systems 29 (2016). [3] Garg, D., Chakraborty, S., Cundy, C., Song, J., & Ermon, S. (2021). Iq-learn: Inverse soft-q learning for imitation. Advances in Neural Information Processing Systems, 34, 4028-4039. [4] Chen, R. T., & Lipman, Y. (2023). Riemannian flow matching on general geometries. arXiv preprint arXiv:2302.03660.

The Power of Friendship: Dynamic Multi-Agent Reward Sharing

In this thesis, we want to investigate the use of generalised reward-sharing between agents that would allow for collaboration in a less constrained manner than previous methods. The method would assume partial observability of each agent, and a bi-level optimisation system that would disseminate scaled rewards between agents in addition to environmental rewards. We aim to demonstrate good performance on small-scale multi-agent settings (StarCraft, Prisoner's Dilemma, Stag Hunt) and to outperform existing methods in large-scale or dynamic settings (Braess's Paradox, network optimisation).

How to apply

• Send an email to [email protected] with your CV and a short motivation email explaining your reason for applying for this thesis and your academic/career objectives.

Minimum knowledge

• Good Python programming skills;
• Basic knowledge of Reinforcement Learning.

Preferred knowledge

• Knowledge of the PyTorch library;
• Knowledge of the MushroomRL library.
• Get to work on a difficult open problem in deep learning with important mathematical underpinnings
• Possible publication at an international conference (depending on results)

References: [1] Peysakhovich, Alexander, and Adam Lerer. "Prosocial learning agents solve generalized stag hunts better than selfish ones." arXiv preprint arXiv:1709.02865 (2017). [2] Jaques, Natasha, et al. "Social influence as intrinsic motivation for multi-agent deep reinforcement learning." International conference on machine learning. PMLR, 2019. [3] Yi, Yuxuan, et al. "Learning to Share in Networked Multi-Agent Reinforcement Learning." Advances in Neural Information Processing Systems 35 (2022): 15119-15131.

• Be extremely motivated -- we will support you a lot, but we expect you to contribute a lot too

Scaling Behavior Cloning to Humanoid Locomotion

Scope: Bachelor / Master thesis Advisor: Joe Watson Added: 2023-10-07 Start: ASAP Topic: In a previous project [1], I found that behavior cloning (BC) was a surprisingly poor baseline for imitating humanoid locomotion. I suspect the issue may lie in the challenges of regularizing high-dimensional regression.

The goal of this project is to investigate BC for humanoid imitation, understand the scaling issues present, and evaluate possible solutions, e.g. regularization strategies from the regression literature.

The project will be building off Google Deepmind's Acme library [2], which has BC algorithms and humanoid demonstration datasets [3] already implemented, and will serve as the foundation of the project.

To apply, email [email protected] , ideally with a CV and transcript so I can assess your suitability.

• Experience, interest and enthusiasm for the intersection of robot learning and machine learning
• Experience with Acme and JAX would be a benefit, but not necessary

References: [1] https://arxiv.org/abs/2305.16498 [2] https://github.com/google-deepmind/acme [3] https://arxiv.org/abs/2106.00672

Robot Gaze for Communicating Collision Avoidance Intent in Shared Workspaces

Scope: Bachelor/Master thesis Advisor: Alap Kshirsagar , Dorothea Koert Added: 2023-09-27 Start: ASAP

Topic: In order to operate close to non-experts, future robots require both an intuitive form of instruction accessible to lay users and the ability to react appropriately to a human co-worker. Instruction by imitation learning with probabilistic movement primitives (ProMPs) [1] allows capturing tasks by learning robot trajectories from demonstrations including the motion variability. However, appropriate responses to human co-workers during the execution of the learned movements are crucial for fluent task execution, perceived safety, and subjective comfort. To facilitate such appropriate responsive behaviors in human-robot interaction, the robot needs to be able to react to its human workspace co-inhabitant online during the execution. Also, the robot needs to communicate its motion intent to the human through non-verbal gestures such as eye and head gazes [2][3]. In particular for humanoid robots, combining motions of arms with expressive head and gaze directions is a promising approach that has not yet been extensively studied in related work.

Goals of the thesis:

• Develop a method to combine robot head/gaze motion with ProMPs for online collision avoidance
• Implement the method on a Franka-Emika Panda Robot
• Evaluate and compare the implemented behaviors in a study with human participants

Highly motivated students can apply by sending an email to [email protected]. Please attach your CV and transcript, and clearly state your prior experiences and why you are interested in this topic.

• Strong Programming Skills in python
• Prior experience with Robot Operating System (ROS) and user studies would be beneficial
• Strong motivation for human-centered robotics including design and implementation of a user study

References : [1] Koert, Dorothea, et al. "Learning intention aware online adaptation of movement primitives." IEEE Robotics and Automation Letters 4.4 (2019): 3719-3726. [2] Admoni, Henny, and Brian Scassellati. "Social eye gaze in human-robot interaction: a review." Journal of Human-Robot Interaction 6.1 (2017): 25-63. [3] Lemasurier, Gregory, et al. "Methods for expressing robot intent for human–robot collaboration in shared workspaces." ACM Transactions on Human-Robot Interaction (THRI) 10.4 (2021): 1-27.

Tactile Sensing for the Real World

Topic: Tactile sensing is a crucial sensing modality that allows humans to perform dexterous manipulation[1]. In recent years, the development of artificial tactile sensors has made substantial progress, with current models relying on cameras inside the fingertips to extract information about the points of contact [2]. However, robotic tactile sensing is still a largely unsolved topic despite these developments. A central challenge of tactile sensing is the extraction of usable representations of sensor readings, especially since these generally contain an incomplete view of the environment.

Recent model-based reinforcement learning methods like Dreamer [3] leverage latent state-space models to reason about the environment from partial and noisy observations. However, more work has yet to be done to apply such methods to real-world manipulation tasks. Hence, this thesis will explore whether Dreamer can solve challenging real-world manipulation tasks by leveraging tactile information. Initial results suggest that tasks like peg-in-a-hole can indeed be solved with Dreamer in simulation (see figure above), but the applicability of this method in the real world has yet to be shown.

In this work, you will work with state-of-the-art hardware and compute resources on a hot research topic with the option of publishing your work at a scientific conference.

Highly motivated students can apply by sending an email to [email protected]. Please attach a transcript of records and clearly state your prior experiences and why you are interested in this topic.

• Ideally experience with deep learning libraries like JAX or PyTorch
• Experience with reinforcement learning is a plus
• Experience with Linux

References [1] 2S Match Anest2, Roland Johansson Lab (2005), https://www.youtube.com/watch?v=HH6QD0MgqDQ [2] Gelsight Inc., Gelsight Mini, https://www.gelsight.com/gelsightmini/ [3] Hafner, D., Lillicrap, T., Ba, J., & Norouzi, M. (2019). Dream to control: Learning behaviors by latent imagination. arXiv preprint arXiv:1912.01603.

Large Vision-Language Neural Networks for Open-Vocabulary Robotic Manipulation

Robots are expected to soon leave their factory/laboratory enclosures and operate autonomously in everyday unstructured environments such as households. Semantic information is especially important when considering real-world robotic applications where the robot needs to re-arrange objects as per a set of language instructions or human inputs (as shown in the figure). Many sophisticated semantic segmentation networks exist [1]. However, a challenge when using such methods in the real world is that the semantic classes rarely align perfectly with the language input received by the robot. For instance, a human language instruction might request a ‘glass’ or ‘water’, but the semantic classes detected might be ‘cup’ or ‘drink’.

Nevertheless, with the rise of large language and vision-language models, we now have capable segmentation models that do not directly predict semantic classes but use learned associations between language queries and classes to give us ’open-vocabulary’ segmentation [2]. Some models are especially powerful since they can be used with arbitrary language queries.

In this thesis, we aim to build on advances in 3D vision-based robot manipulation and large open-vocabulary vision models [2] to build a full pick-and-place pipeline for real-world manipulation. We also aim to find synergies between scene reconstruction and semantic segmentation to determine if knowing the object semantics can aid the reconstruction of the objects and, in turn, aid manipulation.

Highly motivated students can apply by sending an e-mail expressing their interest to Snehal Jauhri (email: [email protected]) or Ali Younes (email: [email protected]), attaching your letter of motivation and possibly your CV.

Topic in detail : Thesis_Doc.pdf

Requirements: Enthusiasm, ambition, and a curious mind go a long way. There will be ample supervision provided to help the student understand basic as well as advanced concepts. However, prior knowledge of computer vision, robotics, and Python programming would be a plus.

References: [1] Y. Wu, A. Kirillov, F. Massa, W.-Y. Lo, and R. Girshick, “Detectron2”, https://github.com/facebookresearch/detectron2 , 2019. [2] F. Liang, B. Wu, X. Dai, K. Li, Y. Zhao, H. Zhang, P. Zhang, P. Vajda, and D. Marculescu, “Open-vocabulary semantic segmentation with mask-adapted clip,” in CVPR, 2023, pp. 7061–7070, https://github.com/facebookresearch/ov-seg

Dynamic Tiles for Deep Reinforcement Learning

Linear approximators in Reinforcement Learning are well-studied and come with an in-depth theoretical analysis. However, linear methods require defining a set of features of the state to be used by the linear approximation. Unfortunately, the feature construction process is a particularly problematic and challenging task. Deep Reinforcement learning methods have been introduced to mitigate the feature construction problem: these methods do not require handcrafted features, as features are extracted automatically by the network during learning, using gradient descent techniques.

In simple reinforcement learning tasks, however, it is possible to use tile coding as features: Tiles are simply a convenient discretization of the state space that allows us to easily control the generalization capabilities of the linear approximator. The objective of this thesis is to design a novel algorithm for automatic feature extraction that generates a set of features similar to tile coding, but that can arbitrarily partition the state space and deal with arbitrary complex state space, such as images. The idea is to combine the feature extraction problem directly with Linear Reinforcement Learning methods, defining an algorithm that is able both to have the theoretical guarantees and good convergence properties of these methods and the flexibility of Deep Learning approaches.

• Curriculum Vitae (CV);
• A motivation letter explaining the reason for applying for this thesis and academic/career objectives.
• Knowledge of the Atari environments (ale-py library).

Accepted candidate will

• Define a generalization of tile coding working with an arbitrary input set (including images);
• Design a learning algorithm to adapt the tiles using data of interaction with the environment;
• Combine feature learning with standard linear methods for Reinforcement Learning;
• Verify the novel methodology in simple continuous state and discrete actions environments;
• (Optionally) Extend the experimental analysis to the Atari environment setting.

Deep Learning Meets Teleoperation: Constructing Learnable and Stable Inductive Guidance for Shared Control

This work considers policies as learnable inductive guidance for shared control. In particular, we use the class of Riemannian motion policies [3] and consider them as differentiable optimization layers [4]. We analyze (i) if RMPs can be pre-trained by learning from demonstrations [5] or reinforcement learning [6] given a specific context; (ii) and subsequently employed seamlessly for human-guided teleoperation thanks to their physically consistent properties, such as stability [3]. We believe this step eliminates the laborious process of constructing complex policies and leads to improved and generalizable shared control architectures.

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] and [email protected] , attaching your letter of motivation and possibly your CV.

• Experience with deep learning libraries (in particular Pytorch)
• Knowledge in reinforcement learning and/or machine learning

References: [1] Niemeyer, Günter, et al. "Telerobotics." Springer handbook of robotics (2016); [2] Selvaggio, Mario, et al. "Autonomy in physical human-robot interaction: A brief survey." IEEE RAL (2021); [3] Cheng, Ching-An, et al. "RMP flow: A Computational Graph for Automatic Motion Policy Generation." Springer (2020); [4] Jaquier, Noémie, et al. "Learning to sequence and blend robot skills via differentiable optimization." IEEE RAL (2022); [5] Mukadam, Mustafa, et al. "Riemannian motion policy fusion through learnable lyapunov function reshaping." CoRL (2020); [6] Xie, Mandy, et al. "Neural geometric fabrics: Efficiently learning high-dimensional policies from demonstration." CoRL (2023).

Dynamic symphony: Seamless human-robot collaboration through hierarchical policy blending

This work focuses on arbitration between the user and assistive policy, i.e., shared autonomy. Various works allow the user to influence the dynamic behavior explicitly and, therefore, could not satisfy stability guarantees [3]. We pursue the idea of formulating arbitration as a trajectory-tracking problem that implicitly considers the user's desired behavior as an objective [4]. Therefore, we extend the work of Hansel et al. [5], who employed probabilistic inference for policy blending in robot motion control. The proposed method corresponds to a sampling-based online planner that superposes reactive policies given a predefined objective. This method enables the user to implicitly influence the behavior without injecting energy into the system, thus satisfying stability properties. We believe this step leads to an alternative view of shared autonomy with an improved and generalizable framework.

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] or [email protected] , attaching your letter of motivation and possibly your CV.

References: [1] Niemeyer, Günter, et al. "Telerobotics." Springer handbook of robotics (2016); [2] Selvaggio, Mario, et al. "Autonomy in physical human-robot interaction: A brief survey." IEEE RAL (2021); [3] Dragan, Anca D., and Siddhartha S. Srinivasa. "A policy-blending formalism for shared control." IJRR (2013); [4] Javdani, Shervin, et al. "Shared autonomy via hindsight optimization for teleoperation and teaming." IJRR (2018); [5] Hansel, Kay, et al. "Hierarchical Policy Blending as Inference for Reactive Robot Control." IEEE ICRA (2023).

Feeling the Heat: Igniting Matches via Tactile Sensing and Human Demonstrations

In this thesis, we want to investigate the effectiveness of vision-based tactile sensors for solving dynamic tasks (igniting matches). Since the whole task is difficult to simulate, we directly collect real-world data to learn policies from the human demonstrations [2,3]. We believe that this work is an important step towards more advanced tactile skills.

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] and [email protected] , attaching your letter of motivation and possibly your CV.

• Good knowledge of Python
• Prior experience with real robots and Linux is a plus

References: [1] https://www.youtube.com/watch?v=HH6QD0MgqDQ [2] Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction; Klas Kronander and Aude Billard. [3] https://www.youtube.com/watch?v=jAtNvfPrKH8

Inverse Reinforcement Learning for Neuromuscular Control of Humanoids

Within this thesis, the problems of learning from observations and efficient exploration in overactued systems should be addressed. Regarding the former, novel methods incorporating inverse dynamics models into the inverse reinforcement learning problem [1] should be adapted and applied. To address the problem of efficient exploration in overactuted systems, two approaches should be implemented and compared. The first approach uses a handcrafted action space, which disables and modulates actions in different phases of the gait based on biomechanics knowledge [2]. The second approach uses a stateful policy to incorporate an inductive bias into the policy [3]. The thesis will be supervised in conjunction with Guoping Zhao ( [email protected] ) from the locomotion lab.

Highly motivated students can apply by sending an e-mail expressing their interest to Firas Al-Hafez ( [email protected] ), attaching your letter of motivation and possibly your CV. Try to make clear why you would like to work on this topic, and why you would be the perfect candidate for the latter.

Required Qualification : 1. Strong Python programming skills 2. Knowledge in Reinforcement Learning 3. Interest in understanding human locomotion

Desired Qualification : 1. Hands-on experience on robotics-related RL projects 2. Prior experience with different simulators 3. Attendance of the lectures "Statistical Machine Learning", "Computational Engineering and Robotics" and/or "Reinforcement Learning: From Fundamentals to the Deep Approaches"

References: [1] Al-Hafez, F.; Tateo, D.; Arenz, O.; Zhao, G.; Peters, J. (2023). LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning, International Conference on Learning Representations (ICLR). [2] Ong CF; Geijtenbeek T.; Hicks JL; Delp SL (2019) Predicting gait adaptations due to ankle plantarflexor muscle weakness and contracture using physics-based musculoskeletal simulations. PLoS Computational Biology [3] Srouji, M.; Zhang, J:;Salakhutdinow, R. (2018) Structured Control Nets for Deep Reinforcement Learning, International Conference on Machine Learning (ICML)

Robotic Tactile Exploratory Procedures for Identifying Object Properties

Goals of the thesis

• Literature review of robotic EPs for identifying object properties [2,3,4]
• Develop and implement robotic EPs for a Digit tactile sensor
• Compare performance of robotic EPs with human EPs

Desired Qualifications

• Interested in working with real robotic systems
• Python programming skills

Literature [1] Lederman and Klatzky, “Haptic perception: a tutorial” [2] Seminara et al., “Active Haptic Perception in Robots: A Review” [3] Chu et al., “Using robotic exploratory procedures to learn the meaning of haptic adjectives” [4] Kerzel et al., “Neuro-Robotic Haptic Object Classification by Active Exploration on a Novel Dataset”

Scaling learned, graph-based assembly policies

• scaling our previous methods to incorporate mobile manipulators or the Kobo bi-manual manipulation platform. The increased workspace of both would allow for handling a wider range of objects
• [2] has shown more powerful, yet, it includes running a MILP for every desired structure. Thus another idea could be to investigate approaches aiming to approximate this solution
• adapting the methods to handle more irregular-shaped objects / investigate curriculum learning

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] , attaching your letter of motivation and possibly your CV.

• Experience with deep learning libraries (in particular Pytorch) is a plus
• Experience with reinforcement learning / having taken Robot Learning is also a plus

References: [1] Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction; Niklas Funk et al. [2] Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery; Niklas Funk et al. [3] Structured agents for physical construction; Victor Bapst et al.

Long-Horizon Manipulation Tasks from Visual Imitation Learning (LHMT-VIL): Algorithm

The proposed architecture can be broken down into the following sub-tasks: 1. Multi-object 6D pose estimation from video: Identify the object 6D poses in each video frame to generate the object trajectories 2. Action segmentation from video: Classify the action being performed in each video frame 3. High-level task representation learning: Learn the sequence of robotic movement primitives with the associated object poses such that the robot completes the demonstrated task 4. Low-level movement primitives: Create a database of low-level robotic movement primitives which can be sequenced to solve the long-horizon task

Desired Qualification: 1. Strong Python programming skills 2. Prior experience in Computer Vision and/or Robotics is preferred

Long-Horizon Manipulation Tasks from Visual Imitation Learning (LHMT-VIL): Dataset

During the project, we will create a large-scale dataset of videos of humans demonstrating industrial assembly sequences. The dataset will contain information of the 6D poses of the objects, the hand and body poses of the human, the action sequences among numerous other features. The dataset will be open-sourced to encourage further research on VIL.

[1] F. Sener, et al. "Assembly101: A Large-Scale Multi-View Video Dataset for Understanding Procedural Activities". CVPR 2022. [2] P. Sharma, et al. "Multiple Interactions Made Easy (MIME) : Large Scale Demonstrations Data for Imitation." CoRL, 2018.

Adaptive Human-Robot Interactions with Human Trust Maximization

• Good knowledge of Python and/or C++;
• Good knowledge in Robotics and Machine Learning;
• Good knowledge of Deep Learning frameworks, e.g, PyTorch;

References: [1] Xu, Anqi, and Gregory Dudek. "Optimo: Online probabilistic trust inference model for asymmetric human-robot collaborations." ACM/IEEE HRI, IEEE, 2015; [2] Kwon, Minae, et al. "When humans aren’t optimal: Robots that collaborate with risk-aware humans." ACM/IEEE HRI, IEEE, 2020; [3] Chen, Min, et al. "Planning with trust for human-robot collaboration." ACM/IEEE HRI, IEEE, 2018; [4] Poole, Ben et al. “On variational bounds of mutual information”. ICML, PMLR, 2019.

Causal inference of human behavior dynamics for physical Human-Robot Interactions

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] , attaching your a letter of motivation and possibly your CV.

• Good knowledge of Robotics;
• Good knowledge of Deep Learning frameworks, e.g, PyTorch
• Li, Q., Chalvatzaki, G., Peters, J., Wang, Y., Directed Acyclic Graph Neural Network for Human Motion Prediction, 2021 IEEE International Conference on Robotics and Automation (ICRA).
• Löwe, S., Madras, D., Zemel, R. and Welling, M., 2020. Amortized causal discovery: Learning to infer causal graphs from time-series data. arXiv preprint arXiv:2006.10833.
• Yang, W., Paxton, C., Mousavian, A., Chao, Y.W., Cakmak, M. and Fox, D., 2020. Reactive human-to-robot handovers of arbitrary objects. arXiv preprint arXiv:2011.08961.

Incorporating First and Second Order Mental Models for Human-Robot Cooperative Manipulation Under Partial Observability

Scope: Master Thesis Advisor: Dorothea Koert , Joni Pajarinen Added: 2021-06-08 Start: ASAP

The ability to model the beliefs and goals of a partner is an essential part of cooperative tasks. While humans develop theory of mind models for this aim already at a very early age [1] it is still an open question how to implement and make use of such models for cooperative robots [2,3,4]. In particular, in shared workspaces human robot collaboration could potentially profit from the use of such models e.g. if the robot can detect and react to planned human goals or a human's false beliefs during task execution. To make such robots a reality, the goal of this thesis is to investigate the use of first and second order mental models in a cooperative manipulation task under partial observability. Partially observable Markov decision processes (POMDPs) and interactive POMDPs (I-POMDPs) [5] define an optimal solution to the mental modeling task and may provide a solid theoretical basis for modelling. The thesis may also compare related approaches from the literature and setup an experimental design for evaluation with the bi-manual robot platform Kobo.

Highly motivated students can apply by sending an e-mail expressing your interest to [email protected] attaching your CV and transcripts.

References:

• Wimmer, H., & Perner, J. Beliefs about beliefs: Representation and constraining function of wrong beliefs in young children's understanding of deception (1983)
• Sandra Devin and Rachid Alami. An implemented theory of mind to improve human-robot shared plans execution (2016)
• Neil Rabinowitz, Frank Perbet, Francis Song, Chiyuan Zhang, SM Ali Eslami,and Matthew Botvinick. Machine theory of mind (2018)
• Connor Brooks and Daniel Szafir. Building second-order mental models for human-robot interaction. (2019)
• Prashant Doshi, Xia Qu, Adam Goodie, and Diana Young. Modeling recursive reasoning by humans using empirically informed interactive pomdps. (2010)

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163 Unique Artificial Intelligence Topics For Your Dissertation

The artificial intelligence industry is an industry of the future, but it’s also a course many students find difficult to write about. According to some students, the main reason is that there are many research topics on artificial intelligence. Several topics are already covered, and they claim not to know what to write about.

However, one of the interesting things about writing a dissertation or thesis is that you don’t need to be the number one author of an idea. It would be best if you write about the idea from a unique perspective instead. Writing from a unique perspective also means coupling your ideas with original research, giving your long essay quality and value to your professors and other students who may want to cover the same topic in the future.

This blog post will cover basic advanced AI topics and interesting ones for your next research paper or debate. This will help prepare you for your next long essay or presentation.

What is Artificial Intelligence?

Artificial Intelligence (AI) is the concept that enables humans to perform their tasks more smartly and faster through automated systems. AI is human intelligence packed in machines.

AI facilitates several computer systems such as voice recognition, machine vision, natural language processing, robotics engineering, and many others. All these systems revolutionize how work is done in today’s world.

Now that you know what artificial intelligence is, here are some advanced AI topics for your college research.

Writing Tips to Create a Good Thesis or Dissertation

Every student wants to create the best thesis and dissertation in their class. The first step to creating or researching the perfect dissertation is to write a great thesis. What are the things to be on the lookout for?

• Create a Strong Thesis Statement You need this to have a concise approach to your research. Your thesis statement should, therefore, be specific, precise, factual, debatable, and logical enough to be an assertive point. Afterwards, the only way to create a competitive dissertation is to draw from existing research in journals and other sources.
• Strong Arguments You can create a good dissertation if you have strong arguments. Your arguments must be backed by reputed sources such as academics, government, reputed media organizations, or statistic-oriented websites. All these make your arguments recognizable and accepted.
• Well Organized and Logically Structured Your dissertation has different subsections, including an abstract, thesis statement, background to the study, chapters (where your body is), and concluding arguments. If you’ve embarked on quantitative data analysis, you must report the data you got and what it means for your discourse. You can even add recommendations for future research. The information you want to convey must be well structured to improve its reception by your university professors.
• Concise and Free of Errors Your essay must also be straightforward. Your ideas must not be complex to understand, and you must always explain ambiguous industry terms. Revising your draft to check for grammatical errors several times is also important. Editing can be difficult, but it’s integral to determining whether your professors will love your dissertation or otherwise.

Artificial Intelligence Research Topics

Artificial intelligence is here to stay in several industries and sectors worldwide. It is the technology of the present and the future, and here are some AI topics to write about:

• How will artificial intelligence contribute to the flight to Mars?
• Machine learning and the challenges it poses to scientists
• How can retail stores maximize machine learning?
• Expatiate on what is meant by deep learning
• General AI and Narrow AI: what does it mean?
• AI changes the world: a case study of the gambling industry
• AI improved business: a case study of SaaS industries
• AI in homes: how smart homes change how humans live
• The critical challenges scientists have not yet solved with AI
• How students can contribute to both research and development of AI systems
• Is automation the way forward for the interconnected world: an overview of the ethical issues in AI
• How does cybernetics connect with AI?
• How do artificial intelligence systems manifest in healthcare?
• A case for artificial intelligence in how it facilitates the use of data in the criminal department
• What are the innovations in the vision system applications
• The inductive logic program: meaning and origin
• Brain simulation and AI: right or wrong
• How to maximize AI in Big data
• How AI can increase cybersecurity threat
• AI in companies: a case study of Telegram

Hot Topics in Artificial Intelligence

If you’d love to be one of the few who will cover hot topics in AI, researching some sub-sectors could be a way to go. There are several subsections of AI, some of which are hot AI topics causing several arguments among scholars and moralists today. Some of these are:

• How natural language is generated and how AI maximizes it
• Speech recognition: a case study of Alexa and how it works
• How AI makes its decisions
• What are known as virtual agents?
• Key deep learning platforms for governments
• Text analytics and the future of text-to-speech systems
• How marketing automation works
• Do robots operate based on rules?
• AI and emotion recognition
• AI and the future of biometrics
• AI in content creation
• AI and how data is used to create social media addiction
• What can be considered core problems with AI?
• What do five pieces of literature say about AI taking over the world?
• How does AI help with predictive sales?
• Motion planning and how AI is used in video editing
• Distinguish between data science vs. artificial intelligence
• Account for five failed AI experiments in the past decade
• The world from the machine’s view
• Project management systems from the machine’s view

Artificial Intelligence Topics for Presentation

Students are sometimes fond of presentations to show knowledge or win debates. If you’re in a debate club and would love to add a presentation to your AI topics, here are topics in artificial intelligence for you.

You can even expand these for your artificial intelligence research paper topics:

• How AI has penetrated all industries
• The future of cloud technologies
• The future of AI in military equipment
• The evolution of AI in a security application
• Industrial robots: an account of Tesla’s factory
• Industrial robots: an account of Amazon’s factories
• An overview of deep generative models and what they mean
• What are the space travel ideas fueling the innovation of AI?
• What is amortized inference?
• Examine the Monte Carlo methods in AI
• How technology has improved maps
• Comment on how AI is used to find fresh craters on the moon
• Comment on two previous papers from your professor about AI

AI Research Topics

If you’d like to take a general perspective on AI, here are some topics in AI to discuss amongst your friends or for your next essay:

• Are robots a threat to human jobs?
• How automation has changed the world since 2020
• Would you say Tesla produces robot cars?
• What are the basic violations of artificial intelligence?
• Account for the evolution of AI models
• Weapon systems and the future of weaponry
• Account for the interaction between machines and humans
• Basic principles of AI risk management
• How AI protects people against spam
• Can AI predict election results?
• What are the limits of AI?
• Detailed reports on image recognition algorithms in two companies of your choice
• How is AI used in customer service?
• Telehealth and its significance
• Can AI help predict the future?
• How to measure water quality and cleanness through AI
• Analyze the technology used for the Breathometer products
• Key trends in AI and robotics research and development
• How AI helps with fraud detection in a bank of your choice
• How AI helps the academic industry.

Argument Debate Topics in AI

You’d expect controversial topics in AI, and here are some of them. These are topics for friendly debates in class or topics to start a conversation with industry leaders:

• Will humans end all work when AI replaces them?
• Who is liable for AI’s misdoing?
• AI is smarter than humans: can it be controlled?
• Machines will affect human interactions: discuss
• AI bias exists and is here to stay
• Artificial Intelligence cannot be humanized even if it understands emotions
• New wealth and AI: how will it be distributed?
• Can humans prevent AI bias?
• Can AI be protected from hackers?
• What will happen with the unintended consequences of using AI?

Computer Science AI Topics

Every computer science student also needs AI topics for research papers, presentations or scientific thesis . Whatever it is, here are some helpful ideas:

• AI and machine learning: how does it help healthcare systems?
• What does hierarchical deep learning neural network mean
• AI in architecture and engineering: explain
• Can robots safely perform surgery?
• Can robots help with teaching?
• Recent trends in machine learning
• Recent trends in big data that will affect the future of the internet of things
• How does AI contribute to the excavation management Industry?
• Can AI help spot drug distribution?
• AI and imaging system: Trends since 1990
• Explain five pieces of literature on how AI can be contained
• Discuss how AI reduced the escalation of COVID-19
• How can natural language processing help interpret sign languages?
• Review a recent book about AI and cybersecurity
• Discuss the key discoveries from a recent popular seminar on AI and cybercrime
• What does Stephen Hawking think about AI?
• How did AI make Tesla a possibility?
• How recommender systems work in the retail industry
• What is the artificial Internet of Things (A-IoT)?
• Explain the intricacies of enhanced AI in the pharmaceutical industry

AI Ethics Topics

There are always argumentative debate topics on AI, especially on the ethical and moral components. Here are a few ethical topics in artificial intelligence to discuss:

• Is AI the end of all jobs?
• Is artificial intelligence in concert with patent law?
• Do humans understand machines?
• What happens when robots gain self-control?
• Can machines make catastrophic mistakes?
• What happens when AI reads minds and executes actions even if they’re violent?
• What can be done about racist robots?
• Comments on how science can mediate human-machine interactions
• What does Google CEO mean when he said AI would be the world’s saviour?
• What are robots’ rights?
• How does power balance shift with a rise in AI development?
• How can human privacy be assured when robots are used as police?
• What is morality for AI?
• Can AI affect the environment?
• Discuss ways to keep robots safe from enemies.

AI Essay Topics Technology

Technology is already intertwined with AI, but you may need hot AI topics that focus on the tech side of the innovation. Here are 20 custom topics for you:

• How can we understand autonomous driving?
• Pros and cons of artificial intelligence to the world?
• How does modern science interact with AI?
• Account for the scandalous innovations in AI in the 21st century
• Account for the most destructive robots ever built
• Review a documentary on AI
• Review three books or journals that express AI as a threat to humans and draw conclusions based on your thoughts
• What do non-experts think about AI?
• Discuss the most ingenious robots developed in the past decade
• Can the robotic population replace human significance?
• Is it possible to be ruled by robots?
• What would world domination look like: from the machine perspective
• He who controls AI controls the world: discuss
• Key areas in AI engineering that man must control
• How Apple is using AI for its products
• Would you say AI is a positive or negative invention?
• AI and video gaming: how it changed the arcade Industry
• Would you say eSports is toxic?
• How AI helps in the hospitality industry
• AI and its use in sustainable energy.

Interesting Topics in AI

There are interesting ways to look at the subject of AI in today’s world. Here are some good research topics for AI to answer some questions:

• AI can be toxic: Should a high school student pursue a career in artificial intelligence?
• Prediction vs. judgment: experimenting with AI
• What makes AI know what’s right or wrong?
• Human judgment in AI: explain
• Effects of AI on businesses
• Will AI play critical roles in human future affairs?
• Tech devices and AI
• Search application and AI: account for how AI maximizes programming languages
• The history of artificial intelligence
• How AI impacts market design
• Data management and AI: discuss
• How can AI influence the future of computing
• How AI has changed the video viewing industry
• How can AI contribute to the global economy?
• How smart would you say artificial intelligence is?

Graduate AI NLP Research Topics

NLP (Natural Language Processing) is the aspect of artificial intelligence or computer science that deals with the ability of machines to understand spoken words and simplify them as humans can. It’s as simple as saying NLP is how computers understand human language.

If you’d like to focus your research topics on artificial intelligence on NLP, here are some topics for you:

• How did natural language processing help with Twitter Space discussions?
• How language is essential for regulatory and legal texts
• NLP in the eCommerce industry: top trends
• How NLP is used in language modelling and occlusion
• How does AI manoeuvre semantic analysis in natural language processing?
• History and top trends in NLP conference video call apps
• Text mining techniques and the role of NLP
• How physicians detected stroke since 2020 through NLP of radiology results
• How does big data contribute to understanding medical acronyms in the NLP section of AI?
• What does applied natural language processing mean in the mental health world?

Get Thesis Help Today

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Completed Theses

State space search solves navigation tasks and many other real world problems. Heuristic search, especially greedy best-first search, is one of the most successful algorithms for state space search. We improve the state of the art in heuristic search in three directions.

In Part I, we present methods to train neural networks as powerful heuristics for a given state space. We present a universal approach to generate training data using random walks from a (partial) state. We demonstrate that our heuristics trained for a specific task are often better than heuristics trained for a whole domain. We show that the performance of all trained heuristics is highly complementary. There is no clear pattern, which trained heuristic to prefer for a specific task. In general, model-based planners still outperform planners with trained heuristics. But our approaches exceed the model-based algorithms in the Storage domain. To our knowledge, only once before in the Spanner domain, a learning-based planner exceeded the state-of-the-art model-based planners.

A priori, it is unknown whether a heuristic, or in the more general case a planner, performs well on a task. Hence, we trained online portfolios to select the best planner for a task. Today, all online portfolios are based on handcrafted features. In Part II, we present new online portfolios based on neural networks, which receive the complete task as input, and not just a few handcrafted features. Additionally, our portfolios can reconsider their choices. Both extensions greatly improve the state-of-the-art of online portfolios. Finally, we show that explainable machine learning techniques, as the alternative to neural networks, are also good online portfolios. Additionally, we present methods to improve our trust in their predictions.

Even if we select the best search algorithm, we cannot solve some tasks in reasonable time. We can speed up the search if we know how it behaves in the future. In Part III, we inspect the behavior of greedy best-first search with a fixed heuristic on simple tasks of a domain to learn its behavior for any task of the same domain. Once greedy best-first search expanded a progress state, it expands only states with lower heuristic values. We learn to identify progress states and present two methods to exploit this knowledge. Building upon this, we extract the bench transition system of a task and generalize it in such a way that we can apply it to any task of the same domain. We can use this generalized bench transition system to split a task into a sequence of simpler searches.

In all three research directions, we contribute new approaches and insights to the state of the art, and we indicate interesting topics for future work.

Greedy best-first search (GBFS) is a sibling of A* in the family of best-first state-space search algorithms. While A* is guaranteed to find optimal solutions of search problems, GBFS does not provide any guarantees but typically finds satisficing solutions more quickly than A*. A classical result of optimal best-first search shows that A* with admissible and consistent heuristic expands every state whose f-value is below the optimal solution cost and no state whose f-value is above the optimal solution cost. Theoretical results of this kind are useful for the analysis of heuristics in different search domains and for the improvement of algorithms. For satisficing algorithms a similarly clear understanding is currently lacking. We examine the search behavior of GBFS in order to make progress towards such an understanding.

We introduce the concept of high-water mark benches, which separate the search space into areas that are searched by GBFS in sequence. High-water mark benches allow us to exactly determine the set of states that GBFS expands under at least one tie-breaking strategy. We show that benches contain craters. Once GBFS enters a crater, it has to expand every state in the crater before being able to escape.

Benches and craters allow us to characterize the best-case and worst-case behavior of GBFS in given search instances. We show that computing the best-case or worst-case behavior of GBFS is NP-complete in general but can be computed in polynomial time for undirected state spaces.

We present algorithms for extracting the set of states that GBFS potentially expands and for computing the best-case and worst-case behavior. We use the algorithms to analyze GBFS on benchmark tasks from planning competitions under a state-of-the-art heuristic. Experimental results reveal interesting characteristics of the heuristic on the given tasks and demonstrate the importance of tie-breaking in GBFS.

Classical planning tackles the problem of finding a sequence of actions that leads from an initial state to a goal. Over the last decades, planning systems have become significantly better at answering the question whether such a sequence exists by applying a variety of techniques which have become more and more complex. As a result, it has become nearly impossible to formally analyze whether a planning system is actually correct in its answers, and we need to rely on experimental evidence.

One way to increase trust is the concept of certifying algorithms, which provide a witness which justifies their answer and can be verified independently. When a planning system finds a solution to a problem, the solution itself is a witness, and we can verify it by simply applying it. But what if the planning system claims the task is unsolvable? So far there was no principled way of verifying this claim.

This thesis contributes two approaches to create witnesses for unsolvable planning tasks. Inductive certificates are based on the idea of invariants. They argue that the initial state is part of a set of states that we cannot leave and that contains no goal state. In our second approach, we define a proof system that proves in an incremental fashion that certain states cannot be part of a solution until it has proven that either the initial state or all goal states are such states.

Both approaches are complete in the sense that a witness exists for every unsolvable planning task, and can be verified efficiently (in respect to the size of the witness) by an independent verifier if certain criteria are met. To show their applicability to state-of-the-art planning techniques, we provide an extensive overview how these approaches can cover several search algorithms, heuristics and other techniques. Finally, we show with an experimental study that generating and verifying these explanations is not only theoretically possible but also practically feasible, thus making a first step towards fully certifying planning systems.

Heuristic search with an admissible heuristic is one of the most prominent approaches to solving classical planning tasks optimally. In the first part of this thesis, we introduce a new family of admissible heuristics for classical planning, based on Cartesian abstractions, which we derive by counterexample-guided abstraction refinement. Since one abstraction usually is not informative enough for challenging planning tasks, we present several ways of creating diverse abstractions. To combine them admissibly, we introduce a new cost partitioning algorithm, which we call saturated cost partitioning. It considers the heuristics sequentially and uses the minimum amount of costs that preserves all heuristic estimates for the current heuristic before passing the remaining costs to subsequent heuristics until all heuristics have been served this way.

In the second part, we show that saturated cost partitioning is strongly influenced by the order in which it considers the heuristics. To find good orders, we present a greedy algorithm for creating an initial order and a hill-climbing search for optimizing a given order. Both algorithms make the resulting heuristics significantly more accurate. However, we obtain the strongest heuristics by maximizing over saturated cost partitioning heuristics computed for multiple orders, especially if we actively search for diverse orders.

The third part provides a theoretical and experimental comparison of saturated cost partitioning and other cost partitioning algorithms. Theoretically, we show that saturated cost partitioning dominates greedy zero-one cost partitioning. The difference between the two algorithms is that saturated cost partitioning opportunistically reuses unconsumed costs for subsequent heuristics. By applying this idea to uniform cost partitioning we obtain an opportunistic variant that dominates the original. We also prove that the maximum over suitable greedy zero-one cost partitioning heuristics dominates the canonical heuristic and show several non-dominance results for cost partitioning algorithms. The experimental analysis shows that saturated cost partitioning is the cost partitioning algorithm of choice in all evaluated settings and it even outperforms the previous state of the art in optimal classical planning.

Classical planning is the problem of finding a sequence of deterministic actions in a state space that lead from an initial state to a state satisfying some goal condition. The dominant approach to optimally solve planning tasks is heuristic search, in particular A* search combined with an admissible heuristic. While there exist many different admissible heuristics, we focus on abstraction heuristics in this thesis, and in particular, on the well-established merge-and-shrink heuristics.

Our main theoretical contribution is to provide a comprehensive description of the merge-and-shrink framework in terms of transformations of transition systems. Unlike previous accounts, our description is fully compositional, i.e. can be understood by understanding each transformation in isolation. In particular, in addition to the name-giving merge and shrink transformations, we also describe pruning and label reduction as such transformations. The latter is based on generalized label reduction, a new theory that removes all of the restrictions of the previous definition of label reduction. We study the four types of transformations in terms of desirable formal properties and explain how these properties transfer to heuristics being admissible and consistent or even perfect. We also describe an optimized implementation of the merge-and-shrink framework that substantially improves the efficiency compared to previous implementations.

Furthermore, we investigate the expressive power of merge-and-shrink abstractions by analyzing factored mappings, the data structure they use for representing functions. In particular, we show that there exist certain families of functions that can be compactly represented by so-called non-linear factored mappings but not by linear ones.

On the practical side, we contribute several non-linear merge strategies to the merge-and-shrink toolbox. In particular, we adapt a merge strategy from model checking to planning, provide a framework to enhance existing merge strategies based on symmetries, devise a simple score-based merge strategy that minimizes the maximum size of transition systems of the merge-and-shrink computation, and describe another framework to enhance merge strategies based on an analysis of causal dependencies of the planning task.

In a large experimental study, we show the evolution of the performance of merge-and-shrink heuristics on planning benchmarks. Starting with the state of the art before the contributions of this thesis, we subsequently evaluate all of our techniques and show that state-of-the-art non-linear merge-and-shrink heuristics improve significantly over the previous state of the art.

Admissible heuristics are the main ingredient when solving classical planning tasks optimally with heuristic search. Higher admissible heuristic values are more accurate, so combining them in a way that dominates their maximum and remains admissible is an important problem.

The thesis makes three contributions in this area. Extensions to cost partitioning (a well-known heuristic combination framework) allow to produce higher estimates from the same set of heuristics. The new heuristic family called operator-counting heuristics unifies many existing heuristics and offers a new way to combine them. Another new family of heuristics called potential heuristics allows to cast the problem of finding a good heuristic as an optimization problem.

Both operator-counting and potential heuristics are closely related to cost partitioning. They offer a new look on cost partitioned heuristics and already sparked research beyond their use as classical planning heuristics.

Master's theses

Classical planning tasks are typically formulated in PDDL. Some of them can be described more concisely using derived variables. Contrary to basic variables, their values cannot be changed by operators and are instead determined by axioms which specify conditions under which they take a certain value. Planning systems often support axioms in their search component, but their heuristics’ support is limited or nonexistent. This leads to decreased search performance with tasks that use axioms. We compile axioms away using our implementation of a known algorithm in the Fast Downward planner. Our results show that the compilation has a negative impact on search performance with its only benefit being the ability to use heuristics that have no axiom support. As a compromise between performance and expressivity, we identify axioms of a simple form and devise a compilation for them. We compile away all axioms in several of the tested domains without a decline in search performance.

The International Planning Competitions (IPCs) serve as a testing suite for planning sys- tems. These domains are well-motivated as they are derived from, or possess characteristics analogous to real-life applications. In this thesis, we study the computational complexity of the plan existence and bounded plan existence decision problems of the following grid- based IPC domains: VisitAll, TERMES, Tidybot, Floortile, and Nurikabe. In all of these domains, there are one or more agents moving through a rectangular grid (potentially with obstacles) performing actions along the way. In many cases, we engineer instances that can be solved only if the movement of the agent or agents follows a Hamiltonian path or cycle in a grid graph. This gives rise to many NP-hardness reductions from Hamiltonian path/cycle problems on grid graphs. In the case of VisitAll and Floortile, we give necessary and suffi- cient conditions for deciding the plan existence problem in polynomial time. We also show that Tidybot has the game Push -1F as a special case, and its plan existence problem is thus PSPACE-complete. The hardness proofs in this thesis highlight hard instances of these domains. Moreover, by assigning a complexity class to each domain, researchers and practitioners can better assess the strengths and limitations of new and existing algorithms in these domains.

Planning tasks can be used to describe many real world problems of interest. Solving those tasks optimally is thus an avenue of great interest. One established and successful approach for optimal planning is the merge-and-shrink framework, which decomposes the task into a factored transition system. The factors initially represent the behaviour of one state variable and are repeatedly combined and abstracted. The solutions of these abstract states is then used as a heuristic to guide search in the original planning task. Existing merge-and-shrink transformations keep the factored transition system orthogonal, meaning that the variables of the planning task are represented in no more than one factor at any point. In this thesis we introduce the clone transformation, which duplicates a factor of the factored transition system, making it non-orthogonal. We test two classes of clone strategies, which we introduce and implement in the Fast Downward planning system and conclude that, while theoretically promising, our clone strategies are practically inefficient as their performance was worse than state-of-the-art methods for merge-and-shrink.

This thesis aims to present a novel approach for improving the performance of classical planning algorithms by integrating cost partitioning with merge-and-shrink techniques. Cost partitioning is a well-known technique for admissibly adding multiple heuristic values. Merge-and-shrink, on the other hand, is a technique to generate well-informed abstractions. The "merge” part of the technique is based on creating an abstract representation of the original problem by replacing two transition systems with their synchronised product. In contrast, the ”shrink” part refers to reducing the size of the factor. By combining these two approaches, we aim to leverage the strengths of both methods to achieve better scalability and efficiency in solving classical planning problems. Considering a range of benchmark domains and the Fast Downward planning system, the experimental results show that the proposed method achieves the goal of fusing merge and shrink with cost partitioning towards better outcomes in classical planning.

Planning is the process of finding a path in a planning task from the initial state to a goal state. Multiple algorithms have been implemented to solve such planning tasks, one of them being the Property-Directed Reachability algorithm. Property-Directed Reachability utilizes a series of propositional formulas called layers to represent a super-set of states with a goal distance of at most the layer index. The algorithm iteratively improves the layers such that they represent a minimum number of states. This happens by strengthening the layer formulas and therefore excluding states with a goal distance higher than the layer index. The goal of this thesis is to implement a pre-processing step to seed the layers with a formula that already excludes as many states as possible, to potentially improve the run-time performance. We use the pattern database heuristic and its associated pattern generators to make use of the planning task structure for the seeding algorithm. We found that seeding does not consistently improve the performance of the Property-Directed Reachability algorithm. Although we observed a significant reduction in planning time for some tasks, it significantly increased for others.

Certifying algorithms is a concept developed to increase trust by demanding affirmation of the computed result in form of a certificate. By inspecting the certificate, it is possible to determine correctness of the produced output. Modern planning systems have been certifying for long time in the case of solvable instances, where a generated plan acts as a certificate.

Only recently there have been the first steps towards certifying unsolvability judgments in the form of inductive certificates which represent certain sets of states. Inductive certificates are expressed with the help of propositional formulas in a specific formalism.

In this thesis, we investigate the use of propositional formulas in conjunctive normal form (CNF) as a formalism for inductive certificates. At first, we look into an approach that allows us to construct formulas representing inductive certificates in CNF. To show general applicability of this approach, we extend this to the family of delete relaxation heuristics. Furthermore, we present how a planning system is able to generate an inductive validation formula, a single formula that can be used to validate if the set found by the planner is indeed an inductive certificate. At last, we show with an experimental evaluation that the CNF formalism can be feasible in practice for the generation and validation of inductive validation formulas.

In generalized planning the aim is to solve whole classes of planning tasks instead of single tasks one at a time. Generalized representations provide information or knowledge about such classes to help solving them. This work compares the expressiveness of three generalized representations, generalized potential heuristics, policy sketches and action schema networks, in terms of compilability. We use a notion of equivalence that requires two generalized representations to decompose the tasks of a class into the same subtasks. We present compilations between pairs of equivalent generalized representations and proofs where a compilation is impossible.

A Digital Microfluidic Biochip (DMFB) is a digitally controllable lab-on-a-chip. Droplets of fluids are moved, merged and mixed on a grid. Routing these droplets efficiently has been tackled by various different approaches. We try to use temporal planning to do droplet routing, inspired by the use of it in quantum circuit compilation. We test a model for droplet routing in both classical and temporal planning and compare both versions. We show that our classical planning model is an efficient method to find droplet routes on DMFBs. Then we extend our model and include spawning, disposing, merging, splitting and mixing of droplets. The results of these extensions show that we are able to find plans for simple experiments. When scaling the problem size to real life experiments our model fails to find plans.

Cost partitioning is a technique used to calculate heuristics in classical optimal planning. It involves solving a linear program. This linear program can be decomposed into a master and pricing problems. In this thesis we combine Fourier-Motzkin elimination and the double description method in different ways to precompute the generating rays of the pricing problems. We further empirically evaluate these approaches and propose a new method that replaces the Fourier-Motzkin elimination. Our new method improves the performance of our approaches with respect to runtime and peak memory usage.

The increasing number of data nowadays has contributed to new scheduling approaches. Aviation is one of the domains concerned the most, as the aircraft engine implies millions of maintenance events operated by staff worldwide. In this thesis we present a constraint programming-based algorithm to solve the aircraft maintenance scheduling problem. We want to find the best time to do the maintenance by determining which employee will perform the work and when. Here we report how the scheduling process in aviation can be automatized.

To solve stochastic state-space tasks, the research field of artificial intelligence is mainly used. PROST2014 is state of the art when determining good actions in an MDP environment. In this thesis, we aimed to provide a heuristic by using neural networks to outperform the dominating planning system PROST2014. For this purpose, we introduced two variants of neural networks that allow to estimate the respective Q-value for a pair of state and action. Since we envisaged the learning method of supervised learning, in addition to the architecture as well as the components of the neural networks, the generation of training data was also one of the main tasks. To determine the most suitable network parameters, we performed a sequential parameter search, from which we expected a local optimum of the model settings. In the end, the PROST2014 planning system could not be surpassed in the total rating evaluation. Nevertheless, in individual domains, we could establish increased final scores on the side of the neural networks. The result shows the potential of this approach and points to eventual adaptations in future work pursuing this procedure furthermore.

In classical planning, there are tasks that are hard and tasks that are easy. We can measure the complexity of a task with the correlation complexity, the improvability width, and the novelty width. In this work, we compare these measures.

We investigate what causes a correlation complexity of at least 2. To do so we translate the state space into a vector space which allows us to make use of linear algebra and convex cones.

Additionally, we introduce the Basel measure, a new measure that is based on potential heuristics and therefore similar to the correlation complexity but also comparable to the novelty width. We show that the Basel measure is a lower bound for the correlation complexity and that the novelty width +1 is an upper bound for the Basel measure.

Furthermore, we compute the Basel measure for some tasks of the International Planning Competitions and show that the translation of a task can increase the Basel measure by removing seemingly irrelevant state variables.

Unsolvability is an important result in classical planning and has seen increased interest in recent years. This thesis explores unsolvability detection by automatically generating parity arguments, a well-known way of proving unsolvability. The argument requires an invariant measure, whose parity remains constant across all reachable states, while all goal states are of the opposite parity. We express parity arguments using potential functions in the field F 2 . We develop a set of constraints that describes potential functions with the necessary separating property, and show that the constraints can be represented efficiently for up to two-dimensional features. Enhanced with mutex information, an algorithm is formed that tests whether a parity function exists for a given planning task. The existence of such a function proves the task unsolvable. To determine its practical use, we empirically evaluate our approach on a benchmark of unsolvable problems and compare its performance to a state of the art unsolvability planner. We lastly analyze the arguments found by our algorithm to confirm their validity, and understand their expressive power.

We implemented the invariant synthesis algorithm proposed by Rintanen and experimentally compared it against Helmert’s mutex group synthesis algorithm as implemented in Fast Downward.

The context for the comparison is the translation of propositional STRIPS tasks to FDR tasks, which requires the identification of mutex groups.

Because of its dominating lead in translation speed, combined with few and marginal advantages in performance during search, Helmert’s algorithm is clearly better for most uses. Meanwhile Rintanen’s algorithm is capable of finding invariants other than mutexes, which Helmert’s algorithm per design cannot do.

The International Planning Competition (IPC) is a competition of state-of-the-art planning systems. The evaluation of these planning systems is done by measuring them with different problems. It focuses on the challenges of AI planning by analyzing classical, probabilistic and temporal planning and by presenting new problems for future research. Some of the probabilistic domains introduced in IPC 2018 are Academic Advising, Chromatic Dice, Cooperative Recon, Manufacturer, Push Your Luck, Red-finned Blue-eyes, etc.

This thesis aims to solve (near)-optimally two probabilistic IPC 2018 domains, Academic Advising and Chromatic Dice. We use different techniques to solve these two domains. In Academic Advising, we use a relevance analysis to remove irrelevant actions and state variables from the planning task. We then convert the problem from probabilistic to classical planning, which helped us solve it efficiently. In Chromatic Dice, we implement backtracking search to solve the smaller instances optimally. More complex instances are partitioned into several smaller planning tasks, and a near-optimal policy is derived as a combination of the optimal solutions to the small instances.

The motivation for finding (near)-optimal policies is related to the IPC score, which measures the quality of the planners. By providing the optimal upper bound of the domains, we contribute to the stabilization of the IPC score evaluation metric for these domains.

Most well-known and traditional online planners for probabilistic planning are in some way based on Monte-Carlo Tree Search. SOGBOFA, symbolic online gradient-based optimization for factored action MDPs, offers a new perspective on this: it constructs a function graph encoding the expected reward for a given input state using independence assumptions for states and actions. On this function, they use gradient ascent to perform a symbolic search optimizing the actions for the current state. This unique approach to probabilistic planning has shown very strong results and even more potential. In this thesis, we attempt to integrate the new ideas SOGBOFA presents into the traditionally successful Trial-based Heuristic Tree Search framework. Specifically, we design and evaluate two heuristics based on the aforementioned graph and its Q value estimations, but also the search using gradient ascent. We implement and evaluate these heuristics in the Prost planner, along with a version of the current standalone planner.

In this thesis, we consider cyclical dependencies between landmarks for cost-optimal planning. Landmarks denote properties that must hold at least once in all plans. However, if the orderings between them induce cyclical dependencies, one of the landmarks in each cycle must be achieved an additional time. We propose the generalized cycle-covering heuristic which considers this in addition to the cost for achieving all landmarks once.

Our research is motivated by recent applications of cycle-covering in the Freecell and logistics domain where it yields near-optimal results. We carry it over to domain-independent planning using a linear programming approach. The relaxed version of a minimum hitting set problem for the landmarks is enhanced by constraints concerned with cyclical dependencies between them. In theory, this approach surpasses a heuristic that only considers landmarks.

We apply the cycle-covering heuristic in practice where its theoretical dominance is confirmed; Many planning tasks contain cyclical dependencies and considering them affects the heuristic estimates favorably. However, the number of tasks solved using the improved heuristic is virtually unaffected. We still believe that considering this feature of landmarks offers great potential for future work.

Potential heuristics are a class of heuristics used in classical planning to guide a search algorithm towards a goal state. Most of the existing research on potential heuristics is focused on finding heuristics that are admissible, such that they can be used by an algorithm such as A* to arrive at an optimal solution. In this thesis, we focus on the computation of potential heuristics for satisficing planning, where plan optimality is not required and the objective is to find any solution. Specifically, our focus is on the computation of potential heuristics that are descending and dead-end avoiding (DDA), since these prop- erties guarantee favorable search behavior when used with greedy search algorithms such as hillclimbing. We formally prove that the computation of DDA heuristics is a PSPACE-complete problem and propose several approximation algorithms. Our evaluation shows that the resulting heuristics are competitive with established approaches such as Pattern Databases in terms of heuristic quality but suffer from several performance bottlenecks.

Most automated planners use heuristic search to solve the tasks. Usually, the planners get as input a lifted representation of the task in PDDL, a compact formalism describing the task using a fragment of first-order logic. The planners then transform this task description into a grounded representation where the task is described in propositional logic. This new grounded format can be exponentially larger than the lifted one, but many planners use this grounded representation because it is easier to implement and reason about.

However, sometimes this transformation between lifted and grounded representations is not tractable. When this is the case, there is not much that planners based on heuristic search can do. Since this transformation is a required preprocess, when this fails, the whole planner fails.

To solve the grounding problem, we introduce new methods to deal with tasks that cannot be grounded. Our work aims to find good ways to perform heuristic search while using a lifted representation of planning problems. We use the point-of-view of planning as a database progression problem and borrow solutions from the areas of relational algebra and database theory.

Our theoretical and empirical results are motivating: several instances that were never solved by any planner in the literature are now solved by our new lifted planner. For example, our planner can solve the challenging Organic Synthesis domain using a breadth-first search, while state-of-the-art planners cannot solve more than 60% of the instances. Furthermore, our results offer a new perspective and a deep theoretical study of lifted representations for planning tasks.

The generation of independently verifiable proofs for the unsolvability of planning tasks using different heuristics, including linear Merge-and-Shrink heuristics, is possible by usage of a proof system framework. Proof generation in the case of non-linear Merge-and-Shrink heuristic, however, is currently not supported. This is due to the lack of a suitable state set representation formalism that allows to compactly represent states mapped to a certain value in the belonging Merge-and-Shrink representation (MSR). In this thesis, we overcome this shortcoming using Sentential Decision Diagrams (SDDs) as set representations. We describe an algorithm that constructs the desired SDD from the MSR, and show that efficient proof verification is possible with SDDs as representation formalism. Aditionally, we use a proof of concept implementation to analyze the overhead occurred by the proof generation functionality and the runtime of the proof verification.

The operator-counting framework is a framework in classical planning for heuristics that are based on linear programming. The operator-counting framework covers several kinds of state-of-the-art linear programming heuristics, among them the post-hoc optimization heuristic. In this thesis we will use post-hoc optimization constraints and evaluate them under altered cost functions instead of the original cost function of the planning task. We show that such cost-altered post-hoc optimization constraints are also covered by the operator-counting framework and that it is possible to achieve improved heuristic estimates with them, compared with post-hoc optimization constraints under the original cost function. In our experiments we have not been able to achieve improved problem coverage, as we were not able to find a method for generating favorable cost functions that work well in all domains.

Heuristic forward search is the state-of-the-art approach to solve classical planning problems. On the other hand, bidirectional heuristic search has a lot of potential but was never able to deliver on those expectations in practice. Only recently the near-optimal bidirectional search algorithm (NBS) was introduces by Chen et al. and as the name suggests, NBS expands nearly the optimal number of states to solve any search problem. This is a novel achievement and makes the NBS algorithm a very promising and efficient algorithm in search. With this premise in mind, we raise the question of how applicable NBS is to planning. In this thesis, we inquire this very question by implementing NBS in the state- of-the-art planner Fast-Downward and analyse its performance on the benchmark of the latest international planning competition. We additionally implement fractional meet-in- the-middle and computeWVC to analyse NBS’ performance more thoroughly in regards to the structure of the problem task.

The conducted experiments show that NBS can successfully be applied to planning as it was able to consistently outperform A*. Especially good results were achieved on the domains: blocks, driverlog, floortile-opt11-strips, get-opt14-strips, logistics00, and termes- opt18-strips. Analysing these results, we deduce that the efficiency of forward and backward search depends heavily upon the underlying implicit structure of the transition system which is induced by the problem task. This suggests that bidirectional search is inherently more suited for certain problems. Furthermore, we find that this aptitude for a certain search direction correlates with the domain, thereby providing a powerful analytic tool to a priori derive the effectiveness of certain search approaches.

In conclusion, even without intricate improvements the NBS algorithm is able to compete with A*. It therefore has further potential for future research. Additionally, the underlying transition system of a problem instance is shown to be an important factor which influences the efficiency of certain search approaches. This knowledge could be valuable for devising portfolio planners.

Multiple Sequence Alignment (MSA) is the problem of aligning multiple biological sequences in the evoluationary most plausible way. It can be viewed as a shortest path problem through an n-dimensional lattice. Because of its large branching factor of 2^n − 1, it has found broad attention in the artificial intelligence community. Finding a globally optimal solution for more than a few sequences requires sophisticated heuristics and bounding techniques in order to solve the problem in acceptable time and within memory limitations. In this thesis, we show how existing heuristics fall into the category of combining certain pattern databases. We combine arbitrary pattern collections that can be used as heuristic estimates and apply cost partitioning techniques from classical planning for MSA. We implement two of those heuristics for MSA and compare their estimates to the existing heuristics.

Increasing Cost Tree Search is a promising approach to multi-agent pathfinding problems, but like all approaches it has to deal with a huge number of possible joint paths, growing exponentially with the number of agents. We explore the possibility of reducing this by introducing a value abstraction to the Multi-valued Decision Diagrams used to represent sets of joint paths. To that end we introduce a heat map to heuristically judge how collisionprone agent positions are and present how to use and possible refine abstract positions in order to still find valid paths.

Estimating cheapest plan costs with the help of network flows is an established technique. Plans and network flows are already very similar, however network flows can differ from plans in the presence of cycles. If a transition system contains cycles, flows might be composed of multiple disconnected parts. This discrepancy can make the cheapest plan estimation worse. One idea to get rid of the cycles works by introducing time steps. For every time step the states of a transition system are copied. Transitions will be changed, so that they connect states only with states of the next time step, which ensures that there are no cycles. It turned out, that by applying this idea to multiple transitions systems, network flows of the individual transition systems can be synchronized via the time steps to get a new kind of heuristic, that will also be discussed in this thesis.

Probabilistic planning is a research field that has become popular in the early 1990s. It aims at finding an optimal policy which maximizes the outcome of applying actions to states in an environment that feature unpredictable events. Such environments can consist of a large number of states and actions which make finding an optimal policy intractable using classical methods. Using a heuristic function for a guided search allows for tackling such problems. Designing a domain-independent heuristic function requires complex algorithms which may be expensive when it comes to time and memory consumption.

In this thesis, we are applying the supervised learning techniques for learning two domain-independent heuristic functions. We use three types of gradient descent methods: stochastic, batch and mini-batch gradient descent and their improved versions using momen- tum, learning decay rate and early stopping. Furthermore, we apply the concept of feature combination in order to better learn the heuristic functions. The learned functions are pro- vided to Prost, a domain-independent probabilistic planner, and benchmarked against the winning algorithms of the International Probabilistic Planning Competition held in 2014. The experiments show that learning an offline heuristic improves the overall score of the search for some of the domains used in aforementioned competition.

The merge-and-shrink heuristic is a state-of-the-art admissible heuristic that is often used for optimal planning. Recent studies showed that the merge strategy is an important factor for the performance of the merge-and-shrink algorithm. There are many different merge strategies and improvements for merge strategies described in the literature. One out of these merge strategies is MIASM by Fan et al. MIASM tries to merge transition systems that produce unnecessary states in their product which can be pruned. Another merge strategy is the symmetry-based merge-and-shrink framework by Sievers et al. This strategy tries to merge transition systems that cause factored symmetries in their product. This strategy can be combined with other merge strategies and it often improves the performance for many merge strategy. However, the current combination of MIASM with factored symmetries performs worse than MIASM. We implement a different combination of MIASM that uses factored symmetries during the subset search of MIASM. Our experimental evaluation shows that our new combination of MIASM with factored symmetries solves more tasks than the existing MIASM and the previously implemented combination of MIASM with factored symmetries. We also evaluate different combinations of existing merge strategies and find combinations that perform better than their basic version that were not evaluated before.

Tree Cache is a pathfinding algorithm that selects one vertex as a root and constructs a tree with cheapest paths to all other vertices. A path is found by traversing up the tree from both the start and goal vertices to the root and concatenating the two parts. This is fast, but as all paths constructed this way pass through the root vertex they can be highly suboptimal.

To improve this algorithm, we consider two simple approaches. The first is to construct multiple trees, and save the distance to each root in each vertex. To find a path, the algorithm first selects the root with the lowest total distance. The second approach is to remove redundant vertices, i.e. vertices that are between the root and the lowest common ancestor (LCA) of the start and goal vertices. The performance and space requirements of the resulting algorithm are then compared to the conceptually similar hub labels and differential heuristics.

Greedy Best-First Search (GBFS) is a prominent search algorithm to find solutions for planning tasks. GBFS chooses nodes for further expansion based on a distance-to-goal estimator, the heuristic. This makes GBFS highly dependent on the quality of the heuristic. Heuristics often face the problem of producing Uninformed Heuristic Regions (UHRs). GBFS additionally suffers the possibility of simultaneously expanding nodes in multiple UHRs. In this thesis we change the heuristic approach in UHRs. The heuristic was unable to guide the search and so we try to expand novel states to escape the UHRs. The novelty measures how “new” a state is in the search. The result is a combination of heuristic and novelty guided search, which is indeed able to escape UHRs quicker and solve more problems in reasonable time.

In classical AI planning, the state explosion problem is a reoccurring subject: although the problem descriptions are compact, often a huge number of states needs to be considered. One way to tackle this problem is to use static pruning methods which reduce the number of variables and operators in the problem description before planning.

In this work, we discuss the properties and limitations of three existing static pruning techniques with a focus on satisficing planning. We analyse these pruning techniques and their combinations, and identify synergy effects between them and the domains and problem structures in which they occur. We implement the three methods into an existing propositional planner, and evaluate the performance of different configurations and combinations in a set of experiments on IPC benchmarks. We observe that static pruning techniques can increase the number of solved problems, and that the synergy effects of the combinations also occur on IPC benchmarks, although they do not lead to a major performance increase.

The goal of classical domain-independent planning is to find a sequence of actions which lead from a given initial state to a goal state that satisfies some goal criteria. Most planning systems use heuristic search algorithms to find such a sequence of actions. A critical part of heuristic search is the heuristic function. In order to find a sequence of actions from an initial state to a goal state efficiently this heuristic function has to guide the search towards the goal. It is difficult to create such an efficient heuristic function. Arfaee et al. show that it is possible to improve a given heuristic function by applying machine learning techniques on a single domain in the context of heuristic search. To achieve this improvement of the heuristic function, they propose a bootstrap learning approach which subsequently improves the heuristic function.

In this thesis we will introduce a technique to learn heuristic functions that can be used in classical domain-independent planning based on the bootstrap-learning approach introduced by Arfaee et al. In order to evaluate the performance of the learned heuristic functions, we have implemented a learning algorithm for the Fast Downward planning system. The experiments have shown that a learned heuristic function generally decreases the number of explored states compared to blind-search . The total time to solve a single problem increases because the heuristic function has to be learned before it can be applied.

Essential for the estimation of the performance of an algorithm in satisficing planning is its ability to solve benchmark problems. Those results can not be compared directly as they originate from different implementations and different machines. We implemented some of the most promising algorithms for greedy best-first search, published in the last years, and evaluated them on the same set of benchmarks. All algorithms are either based on randomised search, localised search or a combination of both. Our evaluation proves the potential of those algorithms.

Heuristic search with admissible heuristics is the leading approach to cost-optimal, domain-independent planning. Pattern database heuristics - a type of abstraction heuristics - are state-of-the-art admissible heuristics. Two recent pattern database heuristics are the iPDB heuristic by Haslum et al. and the PhO heuristic by Pommerening et al.

The iPDB procedure performs a hill climbing search in the space of pattern collections and evaluates selected patterns using the canonical heuristic. We apply different techniques to the iPDB procedure, improving its hill climbing algorithm as well as the quality of the resulting heuristic. The second recent heuristic - the PhO heuristic - obtains strong heuristic values through linear programming. We present different techniques to influence and improve on the PhO heuristic.

We evaluate the modified iPDB and PhO heuristics on the IPC benchmark suite and show that these abstraction heuristics can compete with other state-of-the-art heuristics in cost-optimal, domain-independent planning.

Greedy best-first search (GBFS) is a prominent search algorithm for satisficing planning - finding good enough solutions to a planning task in reasonable time. GBFS selects the next node to consider based on the most promising node estimated by a heuristic function. However, this behaviour makes GBFS heavily depend on the quality of the heuristic estimator. Inaccurate heuristics can lead GBFS into regions far away from a goal. Additionally, if the heuristic ranks several nodes the same, GBFS has no information on which node it shall follow. Diverse best-first search (DBFS) is a new algorithm by Imai and Kishimoto [2011] which has a local search component to emphasis exploitation. To enable exploration, DBFS deploys probabilities to select the next node.

In two problem domains, we analyse GBFS' search behaviour and present theoretical results. We evaluate these results empirically and compare DBFS and GBFS on constructed as well as on provided problem instances.

State-of-the-art planning systems use a variety of control knowledge in order to enhance the performance of heuristic search. Unfortunately most forms of control knowledge use a specific formalism which makes them hard to combine. There have been several approaches which describe control knowledge in Linear Temporal Logic (LTL). We build upon this work and propose a general framework for encoding control knowledge in LTL formulas. The framework includes a criterion that any LTL formula used in it must fulfill in order to preserve optimal plans when used for pruning the search space; this way the validity of new LTL formulas describing control knowledge can be checked. The framework is implemented on top of the Fast Downward planning system and is tested with a pruning technique called Unnecessary Action Application, which detects if a previously applied action achieved no useful progress.

Landmarks are known to be useable for powerful heuristics for informed search. In this thesis, we explain and evaluate a novel algorithm to find ordered landmarks of delete free tasks by intersecting solutions in the relaxation. The proposed algorithm efficiently finds landmarks and natural orders of delete free tasks, such as delete relaxations or Pi-m compilations.

Planning as heuristic search is the prevalent technique to solve planning problems of any kind of domains. Heuristics estimate distances to goal states in order to guide a search through large state spaces. However, this guidance is sometimes moderate, since still a lot of states lie on plateaus of equally prioritized states in the search space topology. Additional techniques that ignore or prefer some actions for solving a problem are successful to support the search in such situations. Nevertheless, some action pruning techniques lead to incomplete searches.

We propose an under-approximation refinement framework for adding actions to under-approximations of planning tasks during a search in order to find a plan. For this framework, we develop a refinement strategy. Starting a search on an initial under-approximation of a planning task, the strategy adds actions determined at states close to a goal, whenever the search does not progress towards a goal, until a plan is found. Key elements of this strategy consider helpful actions and relaxed plans for refinements. We have implemented the under-approximation refinement framework into the greedy best first search algorithm. Our results show considerable speedups for many classical planning problems. Moreover, we are able to plan with fewer actions than standard greedy best first search.

The main approach for classical planning is heuristic search. Many cost heuristics are based on the delete relaxation. The optimal heuristic of a delete free planning problem is called h + . This thesis explores two new ways to compute h + . Both approaches use factored planning, which decomposes the original planning problem to work on each subproblem separately. The algorithm reuses the subsolutions and combines them to a global solution.

The two algorithms are used to compute a cost heuristic for an A* search. As both approaches compute the optimal heuristic for delete free planning tasks, the algorithms can also be used to find a solution for relaxed planning tasks.

Multi-Agent-Path-Finding (MAPF) is a common problem in robotics and memory management. Pebbles in Motion is an implementation of a problem solver for MAPF in polynomial time, based on a work by Daniel Kornhauser from 1984. Recently a lot of research papers have been published on MAPF in the research community of Artificial Intelligence, but the work by Kornhauser seems hardly to be taken into account. We assumed that this might be related to the fact that said paper was more mathematically and hardly describing algorithms intuitively. This work aims at filling this gap, by providing an easy understandable approach of implementation steps for programmers and a new detailed description for researchers in Computer Science.

Bachelor's theses

Fast Downward is a classical planner using heuristical search. The planner uses many advanced planning techniques that are not easy to teach, since they usually rely on complex data structures. To introduce planning techniques to the user an interactive application is created. This application uses an illustrative example to showcase planning techniques: Blocksworld

Blocksworld is an easy understandable planning problem which allows a simple representation of a state space. It is implemented in the Unreal Engine and provides an interface to the Fast Downward planner. Users can explore a state space themselves or have Fast Downward generate plans for them. The concept of heuristics as well as the state space are explained and made accessible to the user. The user experiences how the planner explores a state space and which techniques the planner uses.

This thesis is about implementing Jussi Rintanen’s algorithm for schematic invariants. The algo- rithm is implemented in the planning tool Fast Downward and refers to Rintanen’s paper Schematic Invariants by Reduction to Ground Invariants. The thesis describes all necessary definitions to under- stand the algorithm and draws a comparison between the original task and a reduced task in terms of runtime and number of grounded actions.

Planning is a field of Artificial Intelligence. Planners are used to find a sequence of actions, to get from the initial state to a goal state. Many planning algorithms use heuristics, which allow the planner to focus on more promising paths. Pattern database heuristics allow us to construct such a heuristic, by solving a simplified version of the problem, and saving the associated costs in a pattern database. These pattern databases can be computed and stored by using symbolic data structures.

In this paper we will look at how pattern databases using symbolic data structures using binary decision diagrams and algebraic decision diagrams can be implemented. We will extend fast down- ward (Helmert [2006]) with it, and compare the performance of this implementation with the already implemented explicit pattern database.

In the field of automated planning and scheduling, a planning task is essentially a state space which can be defined rigorously using one of several different formalisms (e.g. STRIPS, SAS+, PDDL etc.). A planning algorithm tries to determine a sequence of actions that lead to a goal state for a given planning task. In recent years, attempts have been made to group certain planners together into so called planner portfolios, to try and leverage their effectiveness on different specific problem classes. In our project, we create an online planner which in contrast to its offline counterparts, makes use of task specific information when allocating a planner to a task. One idea that has recently gained interest, is to apply machine learning methods to planner portfolios.

In previous work such as Delfi (Katz et al., 2018; Sievers et al., 2019a) supervised learning techniques were used, which made it necessary to train multiple networks to be able to attempt multiple, potentially different, planners for a given task. The reason for this being that, if we used the same network, the output would always be the same, as the input to the network would remain unchanged. In this project we make use of techniques from rein- forcement learning such as DQNs (Mnih et al., 2013). Using RL approaches such as DQNs, allows us to extend the input to the network to include information on things, such as which planners were previously attempted and for how long. As a result multiple attempts can be made after only having trained a single network.

Unfortunately the results show that current reinforcement learning agents are, amongst other reasons, too sample inefficient to be able to deliver viable results given the size of the currently available data sets.

Planning tasks are important and difficult problems in computer science. A widely used approach is the use of delete relaxation heuristics to which the additive and FF heuristic belong. Those two heuristics use a graph in their calculation, which only has to be constructed once for a planning task but then can be used repeatedly. To solve such a problem efficiently it is important that the calculation of the heuristics are fast. In this thesis the idea to achieve a faster calculation is to combine redundant parts of the graph when building it to reduce the number of edges and therefore speed up the calculation. Here the reduction of the redundancies is done for each action within a planning task individually, but further ideas to simplify over all actions are also discussed.

Monte Carlo search methods are widely known, mostly for their success in game domains, although they are also applied to many non-game domains. In previous work done by Schulte and Keller, it was established that best-first searches could adapt to the action selection functionality which make Monte Carlo methods so formidable. In practice however, the trial-based best first search, without exploration, was shown to be slightly slower than its explicit open list counterpart. In this thesis we examine the non-trial and trial-based searches and how they can address the exploitation exploration dilemma. Lastly, we will see how trial-based BFS can rectify a slower search by allowing occasional random action selection, by comparing it to regular open list searches in a line of experiments.

Sudoku has become one of the world’s most popular logic puzzles, arousing interest in the general public and the science community. Although the rules of Sudoku may seem simple, they allow for nearly countless puzzle instances, some of which are very hard to solve. SAT-solvers have proven to be a suitable option to solve Sudokus automatically. However, they demand the puzzles to be encoded as logical formulae in Conjunctive Normal Form. In earlier work, such encodings have been successfully demonstrated for original Sudoku Puzzles. In this thesis, we present encodings for rather unconventional Sudoku Variants, developed by the puzzle community to create even more challenging solving experiences. Furthermore, we demonstrate how Pseudo-Boolean Constraints can be utilized to encode Sudoku Variants that follow rules involving sums. To implement an encoding of Pseudo-Boolean Constraints, we use Binary Decision Diagrams and Adder Networks and study how they compare to each other.

In optimal classical planning, informed search algorithms like A* need admissible heuristics to find optimal solutions. Counterexample-guided abstraction refinement (CEGAR) is a method used to generate abstractions that yield suitable abstraction heuristics iteratively. In this thesis, we propose a class of CEGAR algorithms for the generation of domain abstractions, which are a class of abstractions that rank in between projections and Cartesian abstractions regarding the grade of refinement they allow. As no known algorithm constructs domain abstractions, we show that our algorithm is competitive with CEGAR algorithms that generate one projection or Cartesian abstraction.

This thesis will look at Single-Player Chess as a planning domain using two approaches: one where we look at how we can encode the Single-Player Chess problem as a domain-independent (general-purpose AI) approach and one where we encode the problem as a domain-specific solver. Lastly, we will compare the two approaches by doing some experiments and comparing the results of the two approaches. Both the domain-independent implementation and the domain-specific implementation differ from traditional chess engines because the task of the agent is not to find the best move for a given position and colour, but the agent’s task is to check if a given chess problem has a solution or not. If the agent can find a solution, the given chess puzzle is valid. The results of both approaches were measured in experiments, and we found out that the domain-independent implementation is too slow and that the domain-specific implementation, on the other hand, can solve the given puzzles reliably, but it has a memory bottleneck rooted in the search method that was used.

Carcassonne is a tile-based board game with a large state space and a high branching factor and therefore poses a challenge to artificial intelligence. In the past, Monte Carlo Tree Search (MCTS), a search algorithm for sequential decision-making processes, has been shown to find good solutions in large state spaces. MCTS works by iteratively building a game tree according to a tree policy. The profitability of paths within that tree is evaluated using a default policy, which influences in what directions the game tree is expanded. The functionality of these two policies, as well as other factors, can be implemented in many different ways. In consequence, many different variants of MCTS exist. In this thesis, we applied MCTS to the domain of two-player Carcassonne and evaluated different variants in regard to their performance and runtime. We found significant differences in performance for various variable aspects of MCTS and could thereby evaluate a configuration which performs best on the domain of Carcassonne. This variant consistently outperformed an average human player with a feasible runtime.

In general, it is important to verify software as it is prone to error. This also holds for solving tasks in classical planning. So far, plans in general as well as the fact that there is no plan for a given planning task can be proven and independently verified. However, no such proof for the optimality of a solution of a task exists. Our aim is to introduce two methods with which optimality can be proven and independently verified. We first reduce unit cost tasks to unsolvable tasks, which enables us to make use of the already existing certificates for unsolvability. In a second approach, we propose a proof system for optimality, which enables us to infer that the determined cost of a task is optimal. This permits the direct generation of optimality certificates.

Pattern databases are one of the most powerful heuristics in classical planning. They evaluate the perfect cost for a simplified sub-problem. The post-hoc optimization heuristic is a technique on how to optimally combine a set of pattern databases. In this thesis, we will adapt the post-hoc optimization heuristic for the sliding tile puzzle. The sliding tile puzzle serves as a benchmark to compare the post-hoc optimization heuristic to already established methods, which also deal with the combining of pattern databases. We will then show how the post-hoc optimization heuristic is an improvement over the already established methods.

In this thesis, we generate landmarks for a logistics-specific task. Landmarks are actions that need to occur at least once in every plan. A landmark graph denotes a structure with landmarks and their edges called orderings. If there are cycles in a landmark graph, one of those landmarks needs to be achieved at least twice for every cycle. The generation of the logistics-specific landmarks and their orderings calculate the cyclic landmark heuristic. The task is to pick up on related work, the evaluation of the cyclic landmark heuristic. We compare the generation of landmark graphs from a domain-independent landmark generator to a domain-specific landmark generator, the latter being the focus. We aim to bridge the gap between domain-specific and domain-independent landmark generators. In this thesis, we compare one domain-specific approach for the logistics domain with results from a domain- independent landmark generator. We devise a unit to pre-process data for other domain- specific tasks as well. We will show that specificity is better suited than independence.

Lineare Programmierung ist eine mathematische Modellierungstechnik, bei der eine lineare Funktion, unter der Berücksichtigung verschiedenen Beschränkungen, maximiert oder minimiert werden soll. Diese Technik ist besonders nützlich, falls Entscheidungen für Optimierungsprobleme getroffen werden sollen. Ziel dieser Arbeit war es ein Tool für das Spiel Factory Town zu entwickeln, mithilfe man Optimierungsanfragen bearbeiten kann. Dabei ist es möglich wahlweise zwischen diversen Fragestellungen zu wählen und anhand von LP-\ IP-Solvern diese zu beantworten. Zudem wurden die mathematischen Formulierungen, sowie die Unterschiede beider Methoden angegangen. Schlussendlich unterstrichen die generierten Resultate, dass LP Lösungen mindestens genauso gut oder sogar besser seien als die Lösungen eines IP.

Symbolic search is an important approach to classical planning. Symbolic search uses search algorithms that process sets of states at a time. For this we need states to be represented by a compact data structure called knowledge compilations. Merge-and-shrink representations come a different field of planning, where they have been used to derive heuristic functions for state-space search. More generally they represent functions that map variable assignments to a set of values, as such we can regard them as a data structure we will call Factored Mappings. In this thesis, we will investigate Factored Mappings (FMs) as a knowledge compilation language with the hope of using them for symbolic search. We will analyse the necessary transformations and queries for FMs, by defining the needed operations and a canonical representation of FMs, and showing that they run in polynomial time. We will then show that it is possible to use Factored Mappings as a knowledge compilation for symbolic search by defining a symbolic search algorithm for a finite-domain plannings task that works with FMs.

Version control systems use a graph data structure to track revisions of files. Those graphs are mutated with various commands by the respective version control system. The goal of this thesis is to formally define a model of a subset of Git commands which mutate the revision graph, and to model those mutations as a planning task in the Planning Domain Definition Language. Multiple ways to model those graphs will be explored and those models will be compared by testing them using a set of planners.

Pattern Databases are admissible abstraction heuristics for classical planning. In this thesis we are introducing the Boosting processes, which consists of enlarging the pattern of a Pattern Database P, calculating a more informed Pattern Database P' and then min-compress P' to the size of P resulting in a compressed and still admissible Pattern Database P''. We design and implement two boosting algorithms, Hillclimbing and Randomwalk.

We combine pattern database heuristics using five different cost partitioning methods. The experiments compare computing cost partitionings over regular and boosted pattern databases. The experiments, performed on IPC (optimal track) tasks, show promising results which increased the coverage (number of solved tasks) by 9 for canonical cost partitioning using our Randomwalk boosting variant.

One dimensional potential heuristics assign a numerical value, the potential, to each fact of a classical planning problem. The heuristic value of a state is the sum over the poten- tials belonging to the facts contained in the state. Fišer et al. (2020) recently proposed to strengthen potential heuristics utilizing mutexes and disambiguations. In this thesis, we embed the same enhancements in the planning system Fast Downward. The experi- mental evaluation shows that the strengthened potential heuristics are a refinement, but too computationally expensive to solve more problems than the non-strengthened potential heuristics.

The potentials are obtained with a Linear Program. Fišer et al. (2020) introduced an additional constraint on the initial state and we propose additional constraints on random states. The additional constraints improve the amount of solved problems by up to 5%.

This thesis discusses the PINCH heuristic, a specific implementation of the additive heuristic. PINCH intends to combine the strengths of existing implementations of the additive heuristic. The goal of this thesis is to really dig into the PINCH heuristic. I want to provide the most accessible resource for understanding PINCH and I want to analyze the performance of PINCH by comparing it to the algorithm on which it is based, Generalized Dijkstra.

Suboptimal search algorithms can offer attractive benefits compared to optimal search, namely increased coverage of larger search problems and quicker search times. Improving on such algorithms, such as reducing costs further towards optimal solutions and reducing the number of node expansions, is therefore a compelling area for further research. This paper explores the utility and scalability of recently developed priority functions, XDP, XUP, and PWXDP, and the Improved Optimistic Search algorithm, compared to Weighted A*, in the Fast Downward planner. Analyses focus on the cost, total time, coverage, and node expansion parameters, with experimental evidence suggesting preferable performance if strict optimality is not desired. The implementation of priorityb functions in eager best-first search showed marked improvements compared to A* search on coverage, total time, and number of expansions, without significant cost penalties. Following previous suboptimal search research, experimental evidence even seems to indicate that these cost penalties do not reach the designated bound, even in larger search spaces.

In the Automated Planning field, algorithms and systems are developed for exploring state spaces and ultimately finding an action sequence leading from a task’s initial state to its goal. Such planning systems may sometimes show unexpected behavior, caused by a planning task or a bug in the planner itself. Generally speaking, finding the source of a bug tends to be easier when the cause can be isolated or simplified. In this thesis, we tackle this problem by making PDDL and SAS+ tasks smaller while ensuring they still invoke a certain characteristic when executed with a planner. We implement a system that successively removes elements, such as objects, from a task and checks whether the transformed task still fails on the planner. Elements are removed in a syntactically consistent way, however, no semantic integrity is enforced. Our system’s design is centered around the Fast Downward Planning System, as we re-use some of its translator modules and all test runs are performed with Fast Downward. At the core of our system, first-choice hill-climbing is used for optimization. Our “minimizer” takes (1) a failing planner execution command, (2) a description of the failing characteristic and (3) the type of element to be deleted as arguments. We evaluate our system’s functionality on the basis of three use-cases. In our most successful test runs, (1) a SAS+ task with initially 1536 operators and 184 variables is reduced to 2 operators and 2 variables and (2)a PDDL task with initially 46 actions, 62 objects and 29 predicate symbols is reduced to 2 actions, 6 objects and 4 predicates.

Fast Downward is a classical planning system based on heuristic search. Its successor generator is an efficient and intelligent tool to process state spaces and generate their successor states. In this thesis we implement different successor generators in the Fast Downward planning system and compare them against each other. Apart from the given fast downward successor generator we implement four other successor generators: a naive successor generator, one based on the marking of delete relaxed heuristics, one based on the PSVN planning system and one based on watched literals as used in modern SAT solvers. These successor generators are tested in a variety of different planning benchmarks to see how well they compete against each other. We verified that there is a trade-off between precomputation and faster successor generation and showed that all of the implemented successor generators have a use case and it is advisable to switch to a successor generator that fits the style of the planning task.

Verifying whether a planning algorithm came to the correct result for a given planning task is easy if a plan is emitted which solves the problem. But if a task is unsolvable most planners just state this fact without any explanation or even proof. In this thesis we present extended versions of the symbolic search algorithms SymPA and symbolic bidirectional uniform-cost search which, if a given planning task is unsolvable, provide certificates which prove unsolvability. We also discuss a concrete implementation of this version of SymPA.

Classical planning is an attractive approach to solving problems because of its generality and its relative ease of use. Domain-specific algorithms are appealing because of their performance, but require a lot of resources to be implemented. In this thesis we evaluate concepts languages as a possible input language for expert domain knowledge into a planning system. We also explore mixed integer programming as a way to use this knowledge to improve search efficiency and to help the user find and refine useful domain knowledge.

Classical Planning is a branch of artificial intelligence that studies single agent, static, deterministic, fully observable, discrete search problems. A common challenge in this field is the explosion of states to be considered when searching for the goal. One technique that has been developed to mitigate this is Strong Stubborn Set based pruning, where on each state expansion, the considered successors are restricted to Strong Stubborn Sets, which exploit the properties of independent operators to cut down the tree or graph search. We adopt the definitions of the theory of Strong Stubborn Sets from the SAS+ setting to transition systems and validate a central theorem about the correctness of Strong Stubborn Set based pruning for transition systems in the interactive theorem prover Isabelle/HOL.

Ein wichtiges Feld in der Wissenschaft der künstliche Intelligenz sind Planungsprobleme. Man hat das Ziel, eine künstliche intelligente Maschine zu bauen, die mit so vielen ver- schiedenen Probleme umgehen und zuverlässig lösen kann, indem sie ein optimaler Plan herstellt.

Der Trial-based Heuristic Tree Search(THTS) ist ein mächtiges Werkzeug um Multi-Armed- Bandit-ähnliche Probleme, Marcow Decsision Processe mit verändernden Rewards, zu lösen. Beim momentanen THTS können explorierte gefundene gute Rewards auf Grund von der grossen Anzahl der Rewards nicht beachtet werden. Ebenso können beim explorieren schlech- te Rewards, gute Knoten im Suchbaum, verschlechtern. Diese Arbeit führt eine Methodik ein, die von der stückweise stationären MABs Problematik stammt, um den THTS weiter zu optimieren.

Abstractions are a simple yet powerful method of creating a heuristic to solve classical planning problems optimally. In this thesis we make use of Cartesian abstractions generated with Counterexample-Guided Abstraction Refinement (CEGAR). This method refines abstractions incrementally by finding flaws and then resolving them until the abstraction is sufficiently evolved. The goal of this thesis is to implement and evaluate algorithms which select solutions of such flaws, in a way which results in the best abstraction (that is, the abstraction which causes the problem to then be solved most efficiently by the planner). We measure the performance of a refinement strategy by running the Fast Downward planner on a problem and measuring how long it takes to generate the abstraction, as well as how many expansions the planner requires to find a goal using the abstraction as a heuristic. We use a suite of various benchmark problems for evaluation, and we perform this experiment for a single abstraction and on abstractions for multiple subtasks. Finally, we attempt to predict which refinement strategy should be used based on parameters of the task, potentially allowing the planner to automatically select the best strategy at runtime.

Heuristic search is a powerful paradigm in classical planning. The information generated by heuristic functions to guide the search towards a goal is a key component of many modern search algorithms. The paper “Using Backwards Generated Goals for Heuristic Planning” by Alcázar et al. proposes a way to make additional use of this information. They take the last actions of a relaxed plan as a basis to generate intermediate goals with a known path to the original goal. A plan is found when the forward search reaches an intermediate goal.

The premise of this thesis is to modify their approach by focusing on a single sequence of intermediate goals. The aim is to improve efficiency while preserving the benefits of backwards goal expansion. We propose different variations of our approach by introducing multiple ways to make decisions concerning the construction of intermediate goals. We evaluate these variations by comparing their performance and illustrate the challenges posed by this approach.

Counterexample-guided abstraction refinement (CEGAR) is a way to incrementally compute abstractions of transition systems. It starts with a coarse abstraction and then iteratively finds an abstract plan, checks where the plan fails in the concrete transition system and refines the abstraction such that the same failure cannot happen in subsequent iterations. As the abstraction grows in size, finding a solution for the abstract system becomes more and more costly. Because the abstraction grows incrementally, however, it is possible to maintain heuristic information about the abstract state space, allowing the use of informed search algorithms like A*. As the quality of the heuristic is crucial to the performance of informed search, the method for maintaining the heuristic has a significant impact on the performance of the abstraction refinement as a whole. In this thesis, we investigate different methods for maintaining the value of the perfect heuristic h* at all times and evaluate their performance.

Pattern Databases are a powerful class of abstraction heuristics which provide admissible path cost estimates by computing exact solution costs for all states of a smaller task. Said task is obtained by abstracting away variables of the original problem. Abstractions with few variables offer weak estimates, while introduction of additional variables is guaranteed to at least double the amount of memory needed for the pattern database. In this thesis, we present a class of algorithms based on counterexample-guided abstraction refinement (CEGAR), which exploit additivity relations of patterns to produce pattern collections from which we can derive heuristics that are both informative and computationally tractable. We show that our algorithms are competitive with already existing pattern generators by comparing their performance on a variety of planning tasks.

We consider the problem of Rubik’s Cube to evaluate modern abstraction heuristics. In order to find feasible abstractions of the enormous state space spanned by Rubik’s Cube, we apply projection in the form of pattern databases, Cartesian abstraction by doing counterexample guided abstraction refinement as well as merge-and-shrink strategies. While previous publications on Cartesian abstractions have not covered applicability for planning tasks with conditional effects, we introduce factorized effect tasks and show that Cartesian abstraction can be applied to them. In order to evaluate the performance of the chosen heuristics, we run experiments on different problem instances of Rubik’s Cube. We compare them by the initial h-value found for all problems and analyze the number of expanded states up to the last f-layer. These criteria provide insights about the informativeness of the considered heuristics. Cartesian Abstraction yields perfect heuristic values for problem instances close to the goal, however it is outperformed by pattern databases for more complex instances. Even though merge-and-shrink is the most general abstraction among the considered, it does not show better performance than the others.

Probabilistic planning expands on classical planning by tying probabilities to the effects of actions. Due to the exponential size of the states, probabilistic planners have to come up with a strong policy in a very limited time. One approach to optimising the policy that can be found in the available time is called metareasoning, a technique aiming to allocate more deliberation time to steps where more time to plan results in an improvement of the policy and less deliberation time to steps where an improvement of the policy with more time to plan is unlikely.

This thesis aims to adapt a recent proposal of a formal metareasoning procedure from Lin. et al. for the search algorithm BRTDP to work with the UCT algorithm in the Prost planner and compare its viability to the current standard and a number of less informed time management methods in order to find a potential improvement to the current uniform deliberation time distribution.

A planner tries to produce a policy that leads to a desired goal given the available range of actions and an initial state. A traditional approach for an algorithm is to use abstraction. In this thesis we implement the algorithm described in the ASAP-UCT paper: Abstraction of State-Action Pairs in UCT by Ankit Anand, Aditya Grover, Mausam and Parag Singla.

The algorithm combines state and state-action abstraction with a UCT-algorithm. We come to the conclusion that the algorithm needs to be improved because the abstraction of action-state often cannot detect a similarity that a reasonable action abstraction could find.

The notion of adding a form of exploration to guide a search has been proven to be an effective method of combating heuristical plateaus and improving the performance of greedy best-first search. The goal of this thesis is to take the same approach and introduce exploration in a bounded suboptimal search problem. Explicit estimation search (EES), established by Thayer and Ruml, consults potentially inadmissible information to determine the search order. Admissible heuristics are then used to guarantee the cost bound. In this work we replace the distance-to-go estimator used in EES with an approach based on the concept of novelty.

Classical domain-independent planning is about finding a sequence of actions which lead from an initial state to a goal state. A popular approach for solving planning problems efficiently is to utilize heuristic functions. A possible heuristic function is the perfect heuristic of a delete relaxed planning problem denoted as h+. Delete relaxation simplifies the planning problem thus making it easier to find a perfect heuristic. However computing h+ is still NP-hard problem.

In this thesis we discuss a promising looking approach to compute h+ in practice. Inspired by the paper from Gnad, Hoffmann and Domshlak about star-shaped planning problems, we implemented the Flow-Cut algorithm. The basic idea behind flow-cut to divide a problem that is unsolvable in practice, into smaller sub problems that can be solved. We further tested the flow-cut algorithm on the domains provided by the International Planning Competition benchmarks, resulting in the following conclusion: Using a divide and conquer approach can successfully be used to solve classical planning problems, however it is not trivial to design such an algorithm to be more efficient than state-of-the-art search algorithm.

This thesis deals with the algorithm presented in the paper "Landmark-based Meta Best-First Search Algorithm: First Parallelization Attempt and Evaluation" by Simon Vernhes, Guillaume Infantes and Vincent Vidal. Their idea was to reconsider the approach to landmarks as a tool in automated planning, but in a markedly different way than previous work had done. Their result is a meta-search algorithm which explores landmark orderings to find a series of subproblems that reliably lead to an effective solution. Any complete planner may be used to solve the subproblems. While the referenced paper also deals with an attempt to effectively parallelize the Landmark-based Meta Best-First Search Algorithm, this thesis is concerned mainly with the sequential implementation and evaluation of the algorithm in the Fast Downward planning system.

Heuristics play an important role in classical planning. Using heuristics during state space search often reduces the time required to find a solution, but constructing heuristics and using them to calculate heuristic values takes time, reducing this benefit. Constructing heuristics and calculating heuristic values as quickly as possible is very important to the effectiveness of a heuristic. In this thesis we introduce methods to bound the construction of merge-and-shrink to reduce its construction time and increase its accuracy for small problems and to bound the heuris- tic calculation of landmark cut to reduce heuristic value calculation time. To evaluate the performance of these depth-bound heuristics we have implemented them in the Fast Down- ward planning system together with three iterative-deepening heuristic search algorithms: iterative-deepening A* search, a new breadth-first iterative-deepening version of A* search and iterative-deepening breadth-first heuristic search.

Greedy best-first search has proven to be a very efficient approach to satisficing planning but can potentially lose some of its effectiveness due to the used heuristic function misleading it to a local minimum or plateau. This is where exploration with additional open lists comes in, to assist greedy best-first search with solving satisficing planning tasks more effectively. Building on the idea of exploration by clustering similar states together as described by Xie et al. [2014], where states are clustered according to heuristic values, we propose in this paper to instead cluster states based on the Hamming distance of the binary representation of states [Hamming, 1950]. The resulting open list maintains k buckets and inserts each given state into the bucket with the smallest average hamming distance between the already clustered states and the new state. Additionally, our open list is capable of reclustering all states periodically with the use of the k-means algorithm. We were able to achieve promising results concerning the amount of expansions necessary to reach a goal state, despite not achieving a higher coverage than fully random exploration due to slow performance. This was caused by the amount of calculations required to identify the most fitting cluster when inserting a new state.

Monte Carlo Tree Search Algorithms are an efficient method of solving probabilistic planning tasks that are modeled by Markov Decision Problems. MCTS uses two policies, a tree policy for iterating through the known part of the decission tree and a default policy to simulate the actions and their reward after leaving the tree. MCTS algorithms have been applied with great success to computer Go. To make the two policies fast many enhancements based on online knowledge have been developed. The goal of All Moves as First enhancements is to improve the quality of a reward estimate in the tree policy. In the context of this thesis the, in the field of computer Go very efficient, α-AMAF, Cutoff-AMAF as well as Rapid Action Value Estimation enhancements are implemented in the probabilistic planner PROST. To obtain a better default policy, Move Average Sampling is implemented into PROST and benchmarked against it’s current default policies.

In classical planning the objective is to find a sequence of applicable actions that lead from the initial state to a goal state. In many cases the given problem can be of enormous size. To deal with these cases, a prominent method is to use heuristic search, which uses a heuristic function to evaluate states and can focus on the most promising ones. In addition to applying heuristics, the search algorithm can apply additional pruning techniques that exclude applicable actions in a state because applying them at a later point in the path would result in a path consisting of the same actions but in a different order. The question remains as to how these actions can be selected without generating too much additional work to still be useful for the overall search. In this thesis we implement and evaluate the partition-based path pruning method, proposed by Nissim et al. [1], which tries to decompose the set of all actions into partitions. Based on this decomposition, actions can be pruned with very little additional information. The partition-based pruning method guarantees with some alterations to the A* search algorithm to preserve it’s optimality. The evaluation confirms that in several standard planning domains, the pruning method can reduce the size of the explored state space.

Validating real-time systems is an important and complex task which becomes exponentially harder with increasing sizes of systems. Therefore finding an automated approach to check real-time systems for possible errors is crucial. The behaviour of such real-time systems can be modelled with timed automata. This thesis adapts and implements the under-approximation refinement algorithm developed for search based planners proposed by Heusner et al. to find error states in timed automata via the directed model checking approach. The evaluation compares the algorithm to already existing search methods and shows that a basic under-approximation refinement algorithm yields a competitive search method for directed model checking which is both fast and memory efficient. Additionally we illustrate that with the introduction of some minor alterations the proposed under- approximation refinement algorithm can be further improved.

In dieser Arbeit wird versucht eine Heuristik zu lernen. Damit eine Heuristik erlernbar ist, muss sie über Parameter verfügen, die die Heuristik bestimmen. Eine solche Möglichkeit bieten Potential-Heuristiken und ihre Parameter werden Potentiale genannt. Pattern-Databases können mit vergleichsweise wenig Aufwand Eigenschaften eines Zustandsraumes erkennen und können somit eingesetzt werden als Grundlage um Potentiale zu lernen. Diese Arbeit untersucht zwei verschiedene Ansätze zum Erlernen der Potentiale aufgrund der Information aus Pattern-Databases. In Experimenten werden die beiden Ansätze genauer untersucht und schliesslich mit der FF-Heuristik verglichen.

We consider real-time strategy (RTS) games which have temporal and numerical aspects and pose challenges which have to be solved within limited search time. These games are interesting for AI research because they are more complex than board games. Current AI agents cannot consistently defeat average human players, while even the best players make mistakes we think an AI could avoid. In this thesis, we will focus on StarCraft Brood War. We will introduce a formal definition of the model Churchill and Buro proposed for StarCraft. This allows us to focus on Build Order optimization only. We have implemented a base version of the algorithm Churchill and Buro used for their agent. Using the implementation we are able to find solutions for Build Order Problems in StarCraft Brood War.

Auf dem Gebiet der Handlungsplanung stellt die symbolische Suche eine der erfolgversprechendsten angewandten Techniken dar. Um eine symbolische Suche auf endlichen Zustandsräumen zu implementieren bedarf es einer geeigneten Datenstruktur für logische Formeln. Diese Arbeit erprobt die Nutzung von Sentential Decision Diagrams (SDDs) anstelle der gängigen Binary Decision Diagrams (BDDs) zu diesem Zweck. SDDs sind eine Generalisierung von BDDs. Es wird empirisch getestet wie eine Implementierung der symbolischen Suche mit SDDs im FastDownward-Planer sich mit verschiedenen vtrees unterscheidet. Insbesondere wird die Performance von balancierten vtrees, mit welchen die Stärken von SDDs oft gut zur Geltung kommen, mit rechtsseitig linearen vtrees verglichen, bei welchen sich SDDs wie BDDs verhalten.

Die Frage ob es gültige Sudokus - d.h. Sudokus mit nur einer Lösung - gibt, die nur 16 Vorgaben haben, konnte im Dezember 2011 mithilfe einer erschöpfenden Brute-Force-Methode von McGuire et al. verneint werden. Die Schwierigkeit dieser Aufgabe liegt in dem ausufernden Suchraum des Problems und der dadurch entstehenden Erforderlichkeit einer effizienten Beweisidee sowie schnellerer Algorithmen. In dieser Arbeit wird die Beweismethode von McGuire et al. bestätigt werden und für 2 2 × 2 2 und 3 2 × 3 2 Sudokus in C++ implementiert.

Das Finden eines kürzesten Pfades zwischen zwei Punkten ist ein fundamentales Problem in der Graphentheorie. In der Praxis ist es oft wichtig, den Ressourcenverbrauch für das Ermitteln eines solchen Pfades minimal zu halten, was mithilfe einer komprimierten Pfaddatenbank erreicht werden kann. Im Rahmen dieser Arbeit bestimmen wir drei Verfahren, mit denen eine Pfaddatenbank möglichst platzsparend aufgestellt werden kann, und evaluieren die Effektivität dieser Verfahren anhand von Probleminstanzen verschiedener Grösse und Komplexität.

In planning what we want to do is to get from an initial state into a goal state. A state can be described by a finite number of boolean valued variables. If we want to transition from one state to the other we have to apply an action and this, at least in probabilistic planning, leads to a probability distribution over a set of possible successor states. From each transition the agent gains a reward dependent on the current state and his action. In this setting the growth of the number of possible states is exponential with the number of variables. We assume that the value of these variables is determined for each variable independently in a probabilistic fashion. So these variables influence the number of possible successor states in the same way as they did the state space. In consequence it is almost impossible to obtain an optimal amount of reward approaching this problem with a brute force technique. One way to get past this problem is to abstract the problem and then solve a simplified version of the aforementioned. That’s in general the idea proposed by Boutilier and Dearden [1]. They have introduced a method to create an abstraction which depends on the reward formula and the dependencies contained in the problem. With this idea as a basis we’ll create a heuristic for a trial-based heuristic tree search (THTS) algorithm [5] and a standalone planner using the framework PROST (Keller and Eyerich, 2012). These will then be tested on all the domains of the International Probabilistic Planning Competition (IPPC).

In einer Planungsaufgabe geht es darum einen gegebenen Wertezustand durch sequentielles Anwenden von Aktionen in einen Wertezustand zu überführen, welcher geforderte Zieleigenschaften erfüllt. Beim Lösen von Planungsaufgaben zählt Effizienz. Um Zeit und Speicher zu sparen verwenden viele Planer heuristische Suche. Dabei wird mittels einer Heuristik abgeschätzt, welche Aktion als nächstes angewendet werden soll um möglichst schnell in einen gewünschten Zustand zu gelangen.

In dieser Arbeit geht es darum, die von Haslum vorgeschlagene P m -Kompilierung für Planungsaufgaben zu implementieren und die h max -Heuristik auf dem kompilierten Problem gegen die h m -Heuristik auf dem originalen Problem zu testen. Die Implementation geschieht als Ergänzung zum Fast-Downward-Planungssystem. Die Resultate der Tests zeigen, dass mittels der Kompilierung die Zahl der gelösten Probleme erhöht werden kann. Das Lösen eines kompilierten Problems mit der h max -Heuristik geschieht im allgemeinen mit selbiger Informationstiefe schneller als das Lösen des originalen Problems mit der h m -Heuristik. Diesen Zeitgewinn erkauft man sich mit einem höheren Speicherbedarf.

The objective of classical planning is to find a sequence of actions which begins in a given initial state and ends in a state that satisfies a given goal condition. A popular approach to solve classical planning problems is based on heuristic forward search algorithms. In contrast, regression search algorithms apply actions “backwards” in order to find a plan from a goal state to the initial state. Currently, regression search algorithms are somewhat unpopular, as the generation of partial states in a basic regression search often leads to a significant growth of the explored search space. To tackle this problem, state subsumption is a pruning technique that additionally discards newly generated partial states for which a more general partial state has already been explored.

In this thesis, we discuss and evaluate techniques of regression and state subsumption. In order to evaluate their performance, we have implemented a regression search algorithm for the planning system Fast Downward, supporting both a simple subsumption technique as well as a refined subsumption technique using a trie data structure. The experiments have shown that a basic regression search algorithm generally increases the number of explored states compared to uniform-cost forward search. Regression with pruning based on state subsumption with a trie data structure significantly reduces the number of explored states compared to basic regression.

This thesis discusses the Traveling Tournament Problem and how it can be solved with heuristic search. The Traveling Tournament problem is a sports scheduling problem where one tries to find a schedule for a league that meets certain constraints while minimizing the overall distance traveled by the teams in this league. It is hard to solve for leagues with many teams involved since its complexity grows exponentially in the number of teams. The largest instances solved up to date, are instances with leagues of up to 10 teams.

Previous related work has shown that it is a reasonable approach to solve the Traveling Tournament Problem with an IDA*-based tree search. In this thesis I implemented such a search and extended it with several enhancements to examine whether they improve performance of the search. The heuristic that I used in my implementation is the Independent Lower Bound heuristic. It tries to find lower bounds to the traveling costs of each team in the considered league. With my implementation I was able to solve problem instances with up to 8 teams. The results of my evaluation have mostly been consistent with the expected impact of the implemented enhancements on the overall performance.

One huge topic in Artificial Intelligence is the classical planning. It is the process of finding a plan, therefore a sequence of actions that leads from an initial state to a goal state for a specified problem. In problems with a huge amount of states it is very difficult and time consuming to find a plan. There are different pruning methods that attempt to lower the amount of time needed to find a plan by trying to reduce the number of states to explore. In this work we take a closer look at two of these pruning methods. Both of these methods rely on the last action that led to the current state. The first one is the so called tunnel pruning that is a generalisation of the tunnel macros that are used to solve Sokoban problems. The idea is to find actions that allow a tunnel and then prune all actions that are not in the tunnel of this action. The second method is the partition-based path pruning. In this method all actions are distributed into different partitions. These partitions then can be used to prune actions that do not belong to the current partition.

The evaluation of these two pruning methods show, that they can reduce the number of explored states for some problem domains, however the difference between pruned search and normal search gets smaller when we use heuristic functions. It also shows that the two pruning rules effect different problem domains.

Ziel klassischer Handlungsplanung ist es auf eine möglichst effiziente Weise gegebene Planungsprobleme zu lösen. Die Lösung bzw. der Plan eines Planungsproblems ist eine Sequenz von Operatoren mit denen man von einem Anfangszustand in einen Zielzustand gelangt. Um einen Zielzustand gezielter zu finden, verwenden einige Suchalgorithmen eine zusätzliche Information über den Zustandsraum - die Heuristik. Sie schätzt, ausgehend von einem Zustand den Abstand zum Zielzustand. Demnach wäre es ideal, wenn jeder neue besuchte Zustand einen kleineren heuristischen Wert aufweisen würde als der bisher besuchte Zustand. Es gibt allerdings Suchszenarien bei denen die Heuristik nicht weiterhilft um einem Ziel näher zu kommen. Dies ist insbesondere dann der Fall, wenn sich der heuristische Wert von benachbarten Zuständen nicht ändert. Für die gierige Bestensuche würde das bedeuten, dass die Suche auf Plateaus und somit blind verläuft, weil sich dieser Suchalgorithmus ausschliesslich auf die Heuristik stützt. Algorithmen, die die Heuristik als Wegweiser verwenden, gehören zur Klasse der heuristischen Suchalgorithmen.

In dieser Arbeit geht es darum, in Fällen wie den Plateaus trotzdem eine Orientierung im Zustandsraum zu haben, indem Zustände neben der Heuristik einer weiteren Priorisierung unterliegen. Die hier vorgestellte Methode nutzt Abhängigkeiten zwischen Operatoren aus und erweitert die gierige Bestensuche. Wie stark Operatoren voneinander abhängen, betrachten wir anhand eines Abstandsmasses, welches vor der eigentlichen Suche berechnet wird. Die grundlegende Idee ist, Zustände zu bevorzugen, deren Operatoren im Vorfeld voneinander profitierten. Die Heuristik fungiert hierbei erst im Nachhinein als Tie-Breaker, sodass wir einem vielversprechenden Pfad zunächst folgen können, ohne dass uns die Heuristik an einer anderen, weniger vielversprechenden Stelle suchen lässt.

Die Ergebnisse zeigen, dass unser Ansatz in der reinen Suchzeit je nach Heuristik performanter sein kann, als wenn man sich ausschliesslich auf die Heuristik stützt. Bei sehr informationsreichen Heuristiken kann es jedoch passieren, dass die Suche durch unseren Ansatz eher gestört wird. Zudem werden viele Probleme nicht gelöst, weil die Berechnung der Abstände zu zeitaufwändig ist.

In classical planning, heuristic search is a popular approach to solving problems very efficiently. The objective of planning is to find a sequence of actions that can be applied to a given problem and that leads to a goal state. For this purpose, there are many heuristics. They are often a big help if a problem has a solution, but what happens if a problem does not have one? Which heuristics can help proving unsolvability without exploring the whole state space? How efficient are they? Admissible heuristics can be used for this purpose because they never overestimate the distance to a goal state and are therefore able to safely cut off parts of the search space. This makes it potentially easier to prove unsolvability

In this project we developed a problem generator to automatically create unsolvable problem instances and used those generated instances to see how different admissible heuristics perform on them. We used the Japanese puzzle game Sokoban as the first problem because it has a high complexity but is still easy to understand and to imagine for humans. As second problem, we used a logistical problem called NoMystery because unlike Sokoban it is a resource constrained problem and therefore a good supplement to our experiments. Furthermore, unsolvability occurs rather 'naturally' in these two domains and does not seem forced.

Sokoban is a computer game where each level consists of a two-dimensional grid of fields. There are walls as obstacles, moveable boxes and goal fields. The player controls the warehouse worker (Sokoban in Japanese) to push the boxes to the goal fields. The problem is very complex and that is why Sokoban has become a domain in planning.

Phase transitions mark a sudden change in solvability when traversing through the problem space. They occur in the region of hard instances and have been found for many domains. In this thesis we investigate phase transitions in the Sokoban puzzle. For our investigation we generate and evaluate random instances. We declare the defining parameters for Sokoban and measure their influence on the solvability. We show that phase transitions in the solvability of Sokoban can be found and their occurrence is measured. We attempt to unify the parameters of Sokoban to get a prediction on the solvability and hardness of specific instances.

In planning, we address the problem of automatically finding a sequence of actions that leads from a given initial state to a state that satisfies some goal condition. In satisficing planning, our objective is to find plans with preferably low, but not necessarily the lowest possible costs while keeping in mind our limited resources like time or memory. A prominent approach for satisficing planning is based on heuristic search with inadmissible heuristics. However, depending on the applied heuristic, plans found with heuristic search might be of low quality, and hence, improving the quality of such plans is often desirable. In this thesis, we adapt and apply iterative tunneling search with A* (ITSA*) to planning. ITSA* is an algorithm for plan improvement which has been originally proposed by Furcy et al. for search problems. ITSA* intends to search the local space of a given solution path in order to find "short cuts" which allow us to improve our solution. In this thesis, we provide an implementation and systematic evaluation of this algorithm on the standard IPC benchmarks. Our results show that ITSA* also successfully works in the planning area.

In action planning, greedy best-first search (GBFS) is one of the standard techniques if suboptimal plans are accepted. GBFS uses a heuristic function to guide the search towards a goal state. To achieve generality, in domain-independant planning the heuristic function is generated automatically. A well-known problem of GBFS are search plateaus, i.e., regions in the search space where all states have equal heuristic values. In such regions, heuristic search can degenerate to uninformed search. Hence, techniques to escape from such plateaus are desired to improve the efficiency of the search. A recent approach to avoid plateaus is based on diverse best-first search (DBFS) proposed by Imai and Kishimoto. However, this approach relies on several parameters. This thesis presents an implementation of DBFS into the Fast Downward planner. Furthermore, this thesis presents a systematic evaluation of DBFS for several parameter settings, leading to a better understanding of the impact of the parameter choices to the search performance.

Risk is a popular board game where players conquer each other's countries. In this project, I created an AI that plays Risk and is capable of learning. For each decision it makes, it performs a simple search one step ahead, looking at the outcomes of all possible moves it could make, and picks the most beneficial. It judges the desirability of outcomes by a series of parameters, which are modified after each game using the TD(λ)-Algorithm, allowing the AI to learn.

The Canadian Traveler's Problem ( ctp ) is a path finding problem where due to unfavorable weather, some of the roads are impassable. At the beginning, the agent does not know which roads are traversable and which are not. Instead, it can observe the status of roads adjacent to its current location. We consider the stochastic variant of the problem, where the blocking status of a connection is randomly defined with known probabilities. The goal is to find a policy which minimizes the expected travel costs of the agent.

We discuss several properties of the stochastic ctp and present an efficient way to calculate state probabilities. With the aid of these theoretical results, we introduce an uninformed algorithm to find optimal policies.

Finding optimal solutions for general search problems is a challenging task. A powerful approach for solving such problems is based on heuristic search with pattern database heuristics. In this thesis, we present a domain specific solver for the TopSpin Puzzle problem. This solver is based on the above-mentioned pattern database approach. We investigate several pattern databases, and evaluate them on problem instances of different size.

Merge-and-shrink abstractions are a popular approach to generate abstraction heuristics for planning. The computation of merge-and-shrink abstractions relies on a merging and a shrinking strategy. A recently investigated shrinking strategy is based on using bisimulations. Bisimulations are guaranteed to produce perfect heuristics. In this thesis, we investigate an efficient algorithm proposed by Dovier et al. for computing coarsest bisimulations. The algorithm, however, cannot directly be applied to planning and needs some adjustments. We show how this algorithm can be reduced to work with planning problems. In particular, we show how an edge labelled state space can be translated to a state labelled one and what other changes are necessary for the algorithm to be usable for planning problems. This includes a custom data structure to fulfil all requirements to meet the worst case complexity. Furthermore, the implementation will be evaluated on planning problems from the International Planning Competitions. We will see that the resulting algorithm can often not compete with the currently implemented algorithm in Fast Downward. We discuss the reasons why this is the case and propose possible solutions to resolve this issue.

In order to understand an algorithm, it is always helpful to have a visualization that shows step for step what the algorithm is doing. Under this presumption this Bachelor project will explain and visualize two AI techniques, Constraint Satisfaction Processing and SAT Backbones, using the game Gnomine as an example.

CSP techniques build up a network of constraints and infer information by propagating through a single or several constraints at a time, reducing the domain of the variables in the constraint(s). SAT Backbone Computations find literals in a propositional formula, which are true in every model of the given formula.

By showing how to apply these algorithms on the problem of solving a Gnomine game I hope to give a better insight on the nature of how the chosen algorithms work.

Planning as heuristic search is a powerful approach to solve domain-independent planning problems. An important class of heuristics is based on abstractions of the original planning task. However, abstraction heuristics usually come with loss in precision. The contribution of this thesis is the investigation of constrained abstraction heuristics in general, and the application of this concept to pattern database and merge and shrink abstractions in particular. The idea is to use a subclass of mutexes which represent sets of variable-value-pairs so that only one of these pairs can be true at any given time, to regain some of the precision which is lost in the abstraction without increasing its size. By removing states and operators in the abstraction which conflict with such a mutex, the abstraction is refined and hence, the corresponding abstraction heuristic can get more informed. We have implemented the refinements of these heuristics in the Fast Downward planner and evaluated the different approaches using standard IPC benchmarks. The results show that the concept of constrained abstraction heuristics can improve planning as heuristic search in terms of time and coverage.

A permutation problem considers the task where an initial order of objects (ie, an initial mapping of objects to locations) must be reordered into a given goal order by using permutation operators. Permutation operators are 1:1 mappings of the objects from their locations to (possibly other) locations. An example for permutation problems are the wellknown Rubik's Cube and TopSpin Puzzle. Permutation problems have been a research area for a while, and several methods for solving such problems have been proposed in the last two centuries. Most of these methods focused on finding optimal solutions, causing an exponential runtime in the worst case.

In this work, we consider an algorithm for solving permutation problems that has been originally proposed by M. Furst, J. Hopcroft and E. Luks in 1980. This algorithm has been introduced on a theoretical level within a proof for "Testing Membership and Determining the Order of a Group", but has not been implemented and evaluated on practical problems so far. In contrast to the other abovementioned solving algorithms, it only finds suboptimal solutions, but is guaranteed to run in polynomial time. The basic idea is to iteratively reach subgoals, and then to let them fix when we go further to reach the next goals. We have implemented this algorithm and evaluated it on different models, as the Pancake Problem and the TopSpin Puzzle .

Pattern databases (Culberson & Schaeffer, 1998) or PDBs, have been proven very effective in creating admissible Heuristics for single-agent search, such as the A*-algorithm. Haslum et. al proposed, a hill-climbing algorithm can be used to construct the PDBs, using the canonical heuristic. A different approach would be to change action-costs in the pattern-related abstractions, in order to obtain the admissible heuristic. This the so called Cost-Partitioning.

The aim of this project was to implement a cost-partitioning inside the hill-climbing algorithm by Haslum, and compare the results with the standard way which uses the canonical heuristic.

UCT ("upper confidence bounds applied to trees") is a state-of-the-art algorithm for acting under uncertainty, e.g. in probabilistic environments. In the last years it has been very successfully applied in numerous contexts, including two-player board games like Go and Mancala and stochastic single-agent optimization problems such as path planning under uncertainty and probabilistic action planning.

In this project the UCT algorithm was implemented, adapted and evaluated for the classical arcade game "Ms Pac-Man". The thesis introduces Ms Pac-Man and the UCT algorithm, discusses some critical design decisions for developing a strong UCT-based algorithm for playing Ms Pac-Man, and experimentally evaluates the implementation.

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Artificial Intelligence

Thesis project.

In the final thesis project, the student carries out a research project under the supervision of one of the staff members of the research groups offering the AI programme. The project can be done based at Utrecht University, at a company or research institute, or at a foreign university (see also: ‘ stay abroad - traineeship ’).

Before starting the thesis project students are strongly advised to first attend the thesis information session meeting, which is offered at the start of each teaching period. See course INFOMTIMAI for more info .

When looking for a project, please check the following sources.

• Konjoin always has a number of AI projects.
• Jobteaser also has interesting external internships for AI students.

General description

The AI Thesis Project is split into a 14 EC project proposal phase (INFOMAI1) and a 30 EC thesis phase (INFOMAI2). The thesis project takes about 8 months (three periods). The set up phase that is necessary to arrange your project is not counted. 

The thesis project consists of a project idea, a UU graduation supervisor, and a graduation project facilitator. The project facilitator can either be a company or the University. Original ideas from the students are welcome, as long as they are aligned with the research interests and/or proposed projects by the supervisors. 

For a thesis project, the student always needs a supervisor from one of the research groups of the UU offering the AI programme. If the final project is conducted within a company or external institute, both a local supervisor within the company/institute and a supervisor of the AI programme teaching staff monitor and guide the student. 

When can a thesis be started? When all courses are successfully completed, with the exception of Dilemmas of the Scientist (FI-MHPSDL1 and FI-MHPSDL2), for which you can do the second workshop (FI-MHPSDL2) during your theses process. Further exceptions can be given by the AI programme coordinator for students with one pending course. Note that you should start looking for a supervisor and a subject before you have finished all your courses (see “Set Up” below). 

Where do I start? Read the information on the various stages of the thesis project below. If you have any questions not covered here contact the programme coordinator  ( [email protected] ). 

How long does the thesis take? Normally, a thesis project (phase 1 + phase 2) runs for 3 periods/terms (see the schedules). However, holidays, courses or other activities may lead to a thesis projects that takes slightly longer. Please Please see below what to do when your thesis is delayed and you have to apply for a thesis deadline extension (part 1 and/or part 2) 

Previous theses. To get an overview of what an AI thesis looks like, you can consult previous theses online . 

Learning goals. After completing your thesis project, you will:

• have advanced knowledge about a specific subject within AI
• be able to findings on a specific subject within the broader, interdisciplinary field of AI
• be able to independently perform a critical literature study
• be able to formulate a research question of interest to AI and a plan / method to answer this research question
• be able to perform scientific research according to a predetermined plan and a standard method within AI
• be able to report the research findings in the form of a scientific thesis
• be able to report the research findings by means of an oral presentation

This preliminary step is executed before the official start of Phase 1. The duration largely depends on how quickly a supervisor is found and a topic is agreed upon. This part is excluded from the duration of the thesis project. 

1. Find a project and a supervisor   You can do an external or an internal (UU) project. The following tips might come in handy when looking for a project. 

• Think about the courses you found interesting and ask the lecturers of these courses if they have/know of any projects.
• Jobteaser also has interesting external internships for AI students. 

Note that any topic has to be agreed with the UU staff member who will act as a first supervisor. Arrange meetings with staff members to discuss possible options, based on their research interests (look at their webpages, their Google Scholar profile, or ask the Programme Coordinator ( [email protected] ). If unsure about possible topics, please arrange a meeting with the Programme coordinator. Students can also try to arrange a project that fits within an internship with a company. Any project, however, requires a first supervisor from the department who guarantees the scientific quality of the thesis project, so it is advisable to talk to potential supervisors and/or the graduation coordinator before agreeing on an internship. 

2. Define your project  Together with the first supervisor, describe your project's title, problem, aims, and research goals. Come up with a short textual description (about 200 words). Also make clear arrangements with your first supervisor concerning planning, holidays, supervision meetings and so forth. Please make sure you have a clear understanding with your first supervisor regarding deadlines and extra work, holidays etc. to be done during the thesis project. Normally, a thesis project runs for 3 periods/terms, but you can set any reasonable deadline in agreement with your supervisor. Please see below what to do when your thesis is delayed and you have to apply for a thesis deadline extension (part 1 and/or part 2).

3. Ensure adherence to Ethics and Privacy regulations -  Quick Scan From Period 2 of 2022-23, all Master AI thesis projects require ethics and privacy approval. For projects that do not involve human users and data privacy issues this will be a very brief and straightforward process, but you still need to complete an ethics checklist. If you are doing your project with a supervisor in a department that already has ethics approval process in place (such as Cognitive Psychology), then ask the supervisor what you need to do in order to obtain ethics approval. Otherwise, please inform your supervisor that you need to obtain an ethics and privacy approval. Go to the website that contains the ethics checklist and sample Information sheets and consent forms:  https://www.uu.nl/en/research/institute-of-information-and-computing-sciences/ethics-and-privacy . First, download the Word form and discuss how to fill it in with your supervisor. Then fill in the Qualtrics form. Please fill in as the moderator email: [email protected] .

4. Work placement agreement If you conduct a project outside UU, the GSNS Work Placement Agreement (WPA)  should be filled in, and signed by the student, company supervisor, and the Science Research Project Coordinator . Deviations to the standard contract shall be discussed with the Science Research Project Coordinator. 

You need to fill out and upload your WPA with your Research Project application form (see next step) in OSIRIS student.

5. Formalize the start of your Research Project via submitting the Research Project application form  

Use Osiris student  (select 'MyCases', 'Start Case', ‘Research Project GSNS’) to submit your research project application form; if applicable, you will also upload the signed Work Placement Agreement with your application form in OSIRIS. 

Important: in order to apply completely and correctly, you must have discussed the project setup with your intended project supervisor beforehand! We advise you to study the request form previous to discussing it with your supervisor, or fill it out together, to make sure you obtain all of the information required. 

After submitting your application form in OSIRIS, your form will be forwarded to your 1st and 2nd Examiner (supervisors), master’s programme coordinator, the Board of Examiners and Student Affairs for checks and approvals. You may be asked for modifications, should they find any problems with the form. 

Please note. You cannot register yourself in OSIRIS for the relevant research project courses (INFOMAI1 and INFOMAI2). You will be automatically registered for part 1 of the project upon approval of the Research Project Application Form.

Phase 1 - Project proposal

The phase comprises 14 EC (i.e. 10 weeks of full-time work) and is intended for you to do a preliminary study (usually in the form of literature study), and to propose and plan your research. Importantly, this phase will give a go/no-go decision towards Phase-2. You are expected to deliver a research proposal consisting of the following: 

• A literature study section, summarizing works that are relevant to your research. 
• Well formulated research question(s). 
• A plan for the second part of the thesis.

Additionally, depending on the nature of the project, your supervisor may require you to perform some initial research work in Phase-1, either in order to provide a convincing argument towards the prospect and feasibility of your Phase-2, or for efficiency to already do some work of Phase-2, e.g. developing an initial theory or building a first prototype of an algorithm. If such work is required, make an agreement with your supervisor on the scope of this work. 

At the end of Phase-1 the supervisor(s) will make a go/no-go decision. This decision, in terms of pass or not pass, will be entered in Osiris. Phase-1 assessment criteria: 

• Scientific quality. This concerns the quality of the literature study, the relevance and impact of the research questions, the merit of proposed research method. 
• Writing skills. This concerns the quality of your writing, use of English, textual structure, and coherence/consistency of your text. 
• Planning. This concerns the clarity and feasibility of the proposed planning. 
• The quality of additional work, if such is required.

An  example assessment form  with more detailed criteria is available. Please use this form only as a discussion piece and do not send in paper or scanned forms.

Phase 2 - Thesis

The second part comprises 30EC (i.e. 21 weeks full-time). You will complete (at least) the following items: 

• Perform and complete your research according to your plan (Phase 1). 
• Write your thesis that presents your research and its results. 
• Present and defend your results and conclusion. You are asked to prepare a presentation about your research that is understandable by fellow students. The defence will be 45 minutes long; 30 minutes for your presentation, and 15 minutes for questions. 

Content of the thesis.  In addition to the main text describing the research, the master thesis should at least contain: 

• a front page, containing: name of the student, name of the supervisors, student number, date, name of the program (master Artificial Intelligence, Utrecht University); 
• an abstract; 
• an introduction and a conclusion;  
• a brief discussion of the relevance of the thesis topic for the field of AI; 
• a list of references.   

Please discuss the exact requirements for your thesis with your daily supervisor/first examiner at the beginning of your project.  

Phase-2 assessment criteria.  Your thesis is assessed using the following criteria: 

• Project process (30%). This concerns your ability to work independently, to take initiative, to position your work in a broader context, to adapt to new requirements and developments, and to finish the thesis on time. 
• Project report (30%). This concerns the ability to clearly formulate problems, to summarize the results, to compare them with related scientific work elsewhere, and to suggest future research lines. This also concerns clear, consistent, and unambiguous use of language in the thesis. The text should give the readers confidence in that you understand the chronology, structure, and logical entities in your own text; and thus know what you write. 
• Project results (30%). This concerns the level and importance of your results. Are the results publishable as a scientific paper? The difficulty of the problem that you solve also plays an important role, as well as the amount/extent of the work you carry out. These are aspects that are important: the effectiveness of the chosen approach, completeness and preciseness of the literature study, arguments for the choices made, insight in the limitations of the chosen approach, proper interpretation of the results achieved, level of abstraction, convincing argument, proofs or statistical analysis. 
• Project presentation (10%). The ability to orally present your project and its results clearly and concisely. 

An  example assessment form  with more detailed criteria is available. Please use this form only as a discussion piece and do not send in paper or scanned forms. 

Phase 2 - Wrap up

When approaching the finalization of the thesis (i.e, when the supervisors think so), it is time to wrap up the project and graduate. 

• Set date for graduation presentation : both supervisors should agree on the date, including the time. 

Arrange (virtual) room for defence : The public defence can take place in Teams. If desired by the candidate and/or the supervisors, you can also defend your thesis in a lecture room on campus, ideally with a livestream or in a hybrid form so that e.g. fellow students or friends can also watch online. You can make a Teams meeting yourself, and send an e-mail to the secretariat ( [email protected] ) to arrange for a suitable room for your presentation. Please make sure to include the time, date, name of the thesis, supervisor, and the number of expected attendees. 

Inform the AI coordinator  ( [email protected] ) about the details of your defence (title, abstract, date, time, room and/or Teams link). The coordinator will announce the defence on Teams and via the mailing list. 

Thesis defence : the student gives a presentation of 30 minutes, followed by a question-and-answer session that typically lasts about 15-20 minutes. Your first and second supervisor will decide on your grade and announce this after your presentation. 

Upload thesis  to Osiris Student:  After the defence, the student must  upload the final version of their thesis through Osiris Student > my cases . 

Archiving and publishing thesis to Thesis Archive You will be asked once more to upload the final version of your thesis through OSIRIS Student, yet, this time this is for archiving and publishing purposes. The Case will not be available by default via OSIRIS Student. You will receive an email as soon as the Case in OSIRIS Student is available to you. More information on thesis archiving and publication can be found here . 

Graduation checks and ceremony

The Student Desk at Student Affairs keeps track of your study progress in Osiris. When Osiris indicates that you have completed all the required elements of your degree your file is forwarded to the Board of Examiners. These checks only occur around the 15th of each month. Therefore, do you wish to graduate by the end of the month, please ensure you have completed all elements of your degree before the 15th of the month so all your credits are registered in OSIRIS. This also includes the uploads of your final thesis.  

The Board of Examiners then checks whether you meet all examination requirements. Following the Board's approval your graduation date will be emailed to you on your UU email account.  

Please DO NOT terminate your enrolment in Studielink until the Student Desk has informed you about the decision of the Board of Examiners and you have received your graduation date. For further information, please check the graduation  page.

What to do when your research project is delayed and a Research Project deadline extension is required?

Please note that the “protocol delay in graduation” applies when a project is delayed. This protocol can be found in appendix 2 of the Education and Examination Regulations .

• When you are delayed, e.g., due to personal circumstances or due to unforeseen circumstances within the project, it is important that you make an appointment with your study advisor in time (before the final deadline of part 1 and/or part 2).  
• It is further important that you discuss the delay with your supervisor and set new realistic goals and deadlines (where possible).  
• Next, you need to apply through OSIRIS Student > ‘MyCases’ > 'Start Case' > ‘Request to the Board of Examiners GSNS’, and then choose the appropriate request type: “Delay of research or thesis project”. It is important that you upload a statement from the study advisor (hence why the importance to speak to your study advisor as soon as possible when a delay occurs) and a copy of an email in which the supervisors support the request for a deadline extension. You further need to include a proposed new deadline and short statement support your request.

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Hardware for Artificial Intelligence

Topics for Thesis

For Master / Bachelor thesis we currently offer the following open topics. If you are interested in one of the topics, don't hesitate to contact us. We would be happy to discuss the topic with you in a physical meeting. 

Converting CNNs into Digital Logic with Class Importance

Explaining Neural Networks with Dynamic Inference

Automatic combinational circuit generation with neural networks

Master thesis

Ongoing master thesis.

• Layer-wise Selection of Weights and Activations for Power-Efficient Neural Network Acceleration .   Fiona Ball (29.02.2024 - 28.08.2024)
• Efficient Circuits of Convolutional Neural Networks. Chen Zhang (04.04.2024 - 02.10.2024)

Finished Master Theses

• Pruning Neural Networks with Classification Activation Paths      Mengnan Jiang (21.02.2023 - 21.08.2023)
• Quantization for Neural Networks based on Classification Difficulty  Wanqi Wang (01.03.2023 - 15.09.2023)
• Neural Network Accelerator Design with Logic Minimization  Carlos José Llorente Cortijo (06.04.2023 - 26.09.2023)

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Department of Informatics Artificial Intelligence and Machine Learning Group

Quicklinks und sprachwechsel, main navigation.

This page lists several ideas for Bachelor's and Master's theses. Most of the thesis proposals are based on recent research, exploring branches that most researchers overlook. Some Bachelor's theses proposals can be extended to Master's theses. While each page lists requirements, these are not strict requirements at the beginning of the thesis, but rather skills to acquire during the thesis. For more details, send me an email.  Prof. Dr. Manuel Günther

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• Open Theses
• Active Theses
• Past Theses

Topics for new Theses

Students are most welcome to develop their own topics, and we are happy to supervise them as long as the topic is anywhere close to our fields of expertise -- otherwise we are not able to provide fruitful input. General topics of interest to the AIML group include (but are not limited to):

• Face Recognition: the identification of a person based on an image or a video of their face
• Facial Attribut Classification: the classification of attributes (gender, hair color, face shape, ...) from facial images
• Open-Set Classification: teaching classifiers to discern objects of classes of no interest
• Adversarial Samples: generating small modifications of correctly classified samples that change the output of classifiers, or preventing these kinds of attacks
• Explainable AI: which parts of the inputs are of great importance to the decision of deep learning systems
• Traditional Features: How to make use of Gabor wavelets or other traditional image processing techniques in deep networks
• Medical Image Processing: Applying of the above methods to medical images; I only host topics provided by other insitutitions (ETH, USZ, Balgrist, Idiap, ...)

Topics that we generally do not supervise are in the area of Natural Language Processing, Social Media or Robotics since we have other experts on these topics ( Prof. Dr. Martin Volk , Prof. Dr. Anikó Hannák , Prof. Dr. Davide Scaramuzza ) in our department . If you have a topic in mind and believe that we would be a good supervisor for, please send me an email.  Prof. Dr. Manuel Günther

Requirements and Submissions

It is a requirement to use LaTeX for writing the final thesis document. Students should use the AIML Thesis Template (ZIP, 314 KB) .

Generally, all theses need to be defended, including Master theses (mandatory by the Department rules ) and Bachelor theses. Usually, the defense will be scheduled about 3-5 weeks after the submission of the thesis. Deviating from the recommendations, the time for a Master thesis' defense presentation is 30 minutes followed by 15 minutes of questions, while a Bachelor thesis' defense should take 20-30 minutes of presentation and 10-15 minutes of questions.

Additionally, the source code for the thesis needs to be submitted, approximately at the time of the defense. The source code is typically written in Python and use the PyTorch library. It should be self-contained and make use only of public libraries and data (if possible). Source code needs to be documented. This allows fellow students to make use of previously implemented code.

Applied Artificial Intelligence Lab

We offer innovative and impactful topics at the intersection of Artificial Intelligence and Management. In particular, we favour topics related to organisational, social and environmental implications of AI. We jointly select topics based on interest, fit and the study focus of the students. We are also happy to supervise thesis based on industry internships that have elements of AI or emerging technologies in it (but the internships must be organised by students themselves).

In our selection procedure for MSc Thesis supervision, we will prioritise students who have participated in one of our courses and successfully passed the exams. Please find below a list of example thesis topics at our lab.

Open Thesis Topics

1. generative ai for business.

Recent advancements in computational power and data availability have enabled the development of increasingly complex forms of artificial intelligence (AI) systems, particularly those that rely on machine learning and deep neural network (DNN) architectures (Shrestha et al., 2021). One notable recent development in this field are generative AI (GAI) models (also known as foundation models or large language models (LLMs)), such as BERT and GPT-3. These models utilize specialized DNN architectures that are trained on a vast quantity of unlabeled data, such as large fractions of the internet, at scale and in parallel, using hundreds of computers (Bommasani et al., 2021; Longoni et al., 2022). These developments have led to a rapid proliferation of applications, such as Stable Diffusion, DALL-E2, Flamingo, Florence, and ChatGPT, which are currently transforming the AI landscape. Given their ability to generate original human-like textual, visual, and auditory content with little or no human input and intervention, drawing entirely on the data on which they have been trained, these technologies are taking assistive technology to a whole new level. They enable users to incorporate generated outputs into their creative work, reducing application development time and bringing powerful capabilities to even non-technical users (Chui, Roberts & Yee, 2022). For instance, ChatGPT has recently been used to produce poetry, advertising blogs, and sketch package designs, as well as to write computer code and identify bugs in existing code. GPT-3 is being utilized by scientists to create novel protein sequences and review scientific literature. These examples demonstrate the potential of GAI to significantly impact various fields and industries.

GAI systems are considered a turning point in the field of AI and are widely believed to have the potential to revolutionize a wide range of industries and applications, ranging from marketing and sales, operations, engineering, human resource management, risk and legal to research and development (Mollick, 2022). For instance, GAI can assist in marketing and sales by creating user guides, analyze customer feedback, identify potential risks, recommend next steps for marketing and sales interactions, and improve sales support chatbots (Chui, Roberts & Yee, 2022). In human resource management, GAI can be used to create interview questions for candidate assessment and automate first-line interactions such as employee onboarding. The advent of GAI is currently driving the rapid industrialization of AI, as companies are adopting and customizing existing foundation models into their business processes and products. Anticipating the future of GAI, Microsoft has reportedly planned to invest $10B in ChatGPT’s creator company OpenAI [1] .

Despite the excitement surrounding the potential of GAI to enhance creativity and innovation and deliver unprecedented opportunities, companies are also facing organizational, social, and environmental concerns as they integrate GAI into their operations (Bailey et al., 2022; Raisch & Krakowski, 2021; Shrestha et al., 2019, 2021). First, a clear challenge is the difficulties inherent in collaboration and coordination between human and GAI (Feuerriegel et al., 2022). These concerns extend to the use of GAI detrimentally impacting individual learning and creativity. Second, GAI application by organizations also raises social concerns, such as the potential for algorithmic biases, misuse of technology for large-scale and automated fakery, and intellectual property (IP) risks related to commercialization of products developed using GAI inputs. Third, development of GAI requires significant energy consumption, which raises environmental challenges. To fully leverage the benefits of GAI, it is crucial for organizations to address these challenges by developing solutions and frameworks for effectively integrating GAI into their operations (Feuerriegel et al., 2022). This research project aims to investigate some of these challenges and identify potential solutions to overcome them.

[1] https://www.cnbc.com/2023/01/10/microsoft-to-invest-10-billion-in-chatgpt-creator-openai-report-says.html

2. Fairness in Recommendation Systems (MSc) with Stanford University

Goal of this project is to evaluate currently available food recommender systems and build a recommender system that takes into consideration healthy food as a recommendation set. Knowledge of Computer Vision (image recognition) and recommender system is useful for this project.

3. Deep Learning for Disease Diagnosis (MSc) with Stanford University

Augmentation of disease diagnosis and decision-​making in health care with machine learning algorithms is gaining much impetus in recent years. In particular, in the current epidemiological situation caused by COVID-​19 pandemic, swift and accurate prediction of disease diagnosis with machine learning algorithms could facilitate identification and care of vulnerable clusters of population, such as those having multi- morbidity conditions. In order to build a useful disease diagnosis prediction system, advancement in both data representation and development of machine learning architectures are imperative. In this project we seek to build deep learning pipeline for efficient and accurate diagnosis of diseases.

Literature: See  here

4. Deep Learning on Text Documents and Knowledge Graphs (MSc) with Stanford University

Deep learning methods have given rise to a variety of models to learn representations (or embeddings) from both structured and unstructured data. In this project we will evaluate some existing methods and develop new techniques to learn embeddings from text documents and knowledge graphs. Especifically, the goal is to extract information from text documents, so that they can be populated into knowledge bases. Working on this project requires experience with both structured and unstructured datasets, and of the mathematical models to represent them. Coursework on NLP, ML, or Statistics will be helpful. Experience with Tensorflow and/or Keras, or the readiness to learn them will be expected. Relevant literature: – Weston, Jason, et al. “Connecting language and knowledge bases with embedding models for relation extraction.” (2013). – Zhang, Wen, et al. “Interaction Embeddings for Prediction and Explanation in Knowledge Graphs.” (2019).

See also  here

For more information or if you want to apply for the thesis, please contact me or Bibek Paudel ( [email protected] )

5. Organizations and Algorithms

During the last two decades, the scientific advancements in artificial intelligence (AI) and ML algorithms in the field of computer science—including findings from research on deep neural networks and the development of hardware such as graphics processing units (GPUs) and tensor processing units ( TPUs) that makes training such complex nonlinear models feasible—has led to the development of predictive technologies capable of undertaking tasks that previously required human judgment and decision making. Such, AI- and ML-​based predictive technologies have been successfully applied to automate knowledge work and decision making (eg, in dynamic pricing in e-​commerce websites and high-​frequency trading and recommender systems). When well integrated, firms can benefit from partially automated/fully automated decision making because (in certain scenarios) it reduces coordination costs and frees up human attention. However, given the opacity, lack of accountability, and embedded bias of these algorithms, managers might lack the required expertise to better leverage predictive technologies in their organizations. Given their idiosyncratic features, there is a need to rethink organizational designs when integrating these predictive technologies into our organizations. This gives rise to the grand challenge, namely, how to redesign organizations to efficiently benefit from the automation of knowledge work and decision making. The focus of work in this thesis should aim to understand how organizations and organization designs are being shaped by algorithms as both tools and agents. Working on this project requires experience with both structured and unstructured datasets, and of the mathematical models to represent them. Coursework on NLP, ML, or Statistics and those on strategy and organization theories will be helpful. Relevant literature: – von Krogh, G. (2018). Artificial Intelligence in Organizations: New Opportunities for Phenomenon-​Based Theorizing. Academy of Management Discoveries, 4(4), 404-​409. – Shrestha, YR, Ben-​Menahem, S., & von Krogh, G (2019). Organizational Decision-​Making Structures in the Age of Artificial Intelligence. California Management Review.

Past Master Thesis Supervision @ UNIL

Past master thesis supervision @ eth zurich.

19. Claudio Zihlmann (2022) Topic:  Market access strategy for a new value product in the oral market for biomaterials   MAS Excellence Award 2022

18. Lydia Pagani (2022) Topic:  Stylistic production: How the stylistic choices of the occupational community of the Swiss independent watchmakers influence their company’s strategy

17. Savindu Herath (2021) Topic:  Leaveraging data-driven decision-making in co-creation business models to improve firm performance: Evidence from online fashion retailing  Received  ETH Medal Award 2022  (top 2%)

16. Tobias Motz (2021) Topic:  Artificial Intelligence and Organizations: Paradigms of action for a successful integration

15. Anastasios Papageorgiou (2021) Topic:  Deep Learning for disease diagnosis

14. Leopold Franz (2020) Topic:  Managing Disease Diagnoses with Structured and Unstructured Clinical Data \

13. Sebastian Windeck Otto (2020) Topic:  Knowledge graphs for strategic business applications

12. Martin Buttenschön (2018) Topic:  Data for AI: How well structured data empowers business to benefit from machine learning

11. Apurva Maduskar (2017) Topic:  When Corporate Agile Meets Open Source: Contrasting Knowledge Integration and Documentation Practices  Recieved  MAS Excellence Award 2018

10. Chun-Hui Kuo (2017) Topic:  From startup to scaleup: Two-phase searching for human resource acquisition inearly-stage spin-offs

9. Matthias Stenske (2017) Topic:  Open Source Strategy for Swiss Telecommunication infrastructure industry:Impact on strategic resources

8. Mikko Leimio (2017) Topic:  The Impact of an Open Source Hardware Strategy for 5G Technology to the Telecom Industry and a major Swiss Telecommunications Provider

7. Matteo Frondoni (2016) Topic: Competing with giants: Artificial Intelligence as a threat or an opportunity for the swiss TIME industry? Recieved  Student Prize 2016 from the SEW-EURODRIVE Foundation  and  ETH Medal 2017  (top 2%)

6. David Roegiers (2016) Topic:  Start-up acquisitions in the open source software space: What is the effect oncommunity dynamics ?

5. Christoph Hirnschall (2016) Topic:  Online learning of user preferences with applications for online marketplaces Recieved  Willie Studer Prize 2017  (best student in each ETH Zurich Master’s degree programme)

4. Matthias Auf der Mauer (2015) Topic:  Business Model Analysis of Intuitive Surgical Inc.and Strategic Implications for Companies in the Robotic Assisted Ablation Catheter Industry

3. Pascal Mages (2015) Topic:  IT Outsourcing for Small and Medium Enterprises

2. Remo Hug (2015) Topic:  Sharing economy in the market for kid’s goods in Switzerland

1. Fotini Traka (2015) Topic:  OSS Licenses and project sustainability

Open Theses

If you are interested in a thesis topic, you are invited to check with our staff for additional information. If there are currently no announcements, you are still invited to ask our staff for offerings. For this it is advisable to consult an employee from the research area that appeals to you most.

The following descriptions are mostly available in German. If you are, h owever,  interested in writing a thesis in English, you are welcome to contact us.

Automated Planning

We offer various theses in the areas of hybrid planning, hierarchical planning, and partial order causal link (POCL) planning. We focus our research on plan recognition, mixed-initiative planning with the user, plan explanations, heuristic search, modeling support, and complexity analyses.

We are happy to present our current theses topics to you. Please contact Conny Olz in case you are interested.

Semantic Web Technologies and Automated Reasoning

For thesis topics please contact  Birte Glimm .

Currently, we offer two thesis topics in cooperation with BMW Car IT . 

There is also the opportunity for a joint master's project with the joint master's project with  Dr. Thorsten Liebig of derivo GmbH , a spin-off of the institute. 

Human-in-the-Loop Reinforcement Learning

Is it possible to train Robots/AI with demonstrations and/or interactive feedback? In our research we want to investigate how methods & concepts from the field of explainable AI (XAI) can be used to enable natural & fast training of robots/agents. 

For these reasons we offer several thesis topics in the fields of Human-in-the-Loop Reinforcement Learning (HRL, Imitation Learning), Explainability and Human-Robot-Interaction.

If you are interested, please sent a mail to jakob.karalus(at)uni-ulm.de

Explainability in human-robot interaction

In complex robot systems, a large number of AI components interact, whose individual decisions together constitute the observable behavior of the robot. For human interaction partners, these processes can hardly be understood in their entirety and the robot behavior is often not interpretable. The application of techniques from the Explainable AI aims to make the actions, skills and knowledge of a robot transparent. It is possible to work on theses in this research area. The robots TIAGo (http://pal-robotics.com/robots/tiago/) and Furhat (https://furhatrobotics.com) are available in the laboratory for practical use and empirical studies. If you are interested, send an email to [email protected]