abstract: In order for a robot to solve complex tasks in real world, it needs to compute discrete, high-level strategies that can be translated into continuous movement trajectories. These problems become increasingly difficult with increasing numbers of objects and domain constraints, as well as with the increasing degrees of freedom of robotic manipulator arms. The first part of this thesis develops and investigates new methods for addressing these problems through hierarchical task and motion planning for manipulation with a focus on autonomous construction of free-standing structures using precision-cut planks. These planks can be arranged in various orientations to design complex structures; reliably and autonomously building such structures from scratch is computationally intractable due to the long planning horizon and the infinite branching factor of possible grasps and placements that the robot could make. An abstract representation is developed for this class of problems and show how pose generators can be used to autonomously compute feasible robot motion plans for constructing a given structure. The approach was evaluated through simulation and on a real ABB YuMi robot. Results show that hierarchical algorithms for planning can effectively overcome the computational barriers to solving such problems. The second part of this thesis proposes a deep learning-based algorithm to identify critical regions for motion planning. Further investigation is done whether these learned critical regions can be translated to learn high-level landmark actions for automated planning. / Dissertation/Thesis / Masters Thesis Computer Science 2019

Актуальность темы магистерской диссертации является важность и обязательность конвергенции международных стандартов бухгалтерского учета. Целью исследования является исследование важности МСФО и их огромную роль в развитии торговых отношении Китая и России. Задачи исследования определяются целью являются исследование важности МСФО; исследование ситуации международной конвергенции между китайскими и российскими стандартами бухгалтерского учета; исследование финансового положения группы Али-баба по МСФО и исследование МСФО для российских Startup-компаний. Научная новизна включает в себя 4 пункта: через причины появления, исторический фон, процесс развития МСФО исследована их важность и проанализирована их перспектива; проанализировано положение международной конвергенции бухгалтерского учета соответственно из трех аспектов международного уровня, Китая и России; исследованы данные известной китайской компании электронной коммерции Али-баба по МСФО, составлены выводы и даны предложения по операционным результатам и перспективам деятельности Али-баба, распространения ее опыта на другие корпорации и фирмы Китая и России; российские малые инновационные предприятия могут применять упрощенную финансовую отчетность, в соответствии с МСФО. Практическая значимость состоит в том, что результаты проведенного исследования могут быть использованы крупным и малым бизнесом для повышения конкурентоспособности и получения инвестиций для дальнейшего успешного развития. / The relevance of the topic of the master's thesis is the importance and mandatory convergence of international accounting standards. The purpose of the study is to study the importance of IFRS and their huge role in the development of trade relations between China and Russia. The objectives of the study are determined by the purpose are the study of the importance of IFRS; study of the situation of international convergence between Chinese and Russian accounting standards; study of the financial position of the Ali Baba group under IFRS and the study of IFRS for Russian Startup companies. The scientific novelty includes 4 points: through the reasons for their appearance, the historical background, the process of development of IFRS, their importance was investigated and their perspective was analyzed; analyzed the position of international convergence of accounting, respectively, of the three aspects of the international level, China and Russia; The data of the well-known Chinese e-commerce company Ali Baba in accordance with IFRS were investigated, conclusions were drawn up and proposals were made on the operational results and prospects of Ali Baba’s activities, spreading her experience to other corporations and firms from China and Russia Russian small innovative enterprises may apply simplified financial statements in accordance with IFRS. The practical significance lies in the fact that the results of the study can be used by large and small businesses to increase competitiveness and obtain investments for further successful development.

Die Dissertation versucht herauszufinden, ob Ungleichheiten im reformierten China aus dem vergangenen staatssozialistischen System heraus reproduziert werden und wie in diesem Falle diese Reproduktion von Ungleichheit funktioniert. Die soziokulturelle Perspektive erlaubt eine Interpretation von Ungleichheit als ungleiche Verteilung symbolischen Kapitals, was konkret heißt, dass die strukturelle Ursache für Ungleichheit in der symbolischen Vermittlung menschlichen Handelns liegt. Die symbolische Vermittlung über den Habitus wurde von Pierre Bourdieu systematisch untersucht, um die Funktionsweise der Reproduktion von Ungleichheiten zu erklären. Als Ausdruck der Logik menschlichen Handelns, welches durch Wissen und Erfahrung in einer symbolischen Welt entsteht, organisiert der Habitus das menschliche Handeln, um die Bedingungen seines Entstehens zu reproduzieren. Im Falle Chinas seit Beginn der Reformpolitik sind Hierarchien des staatssozialistischen Systems in Form von post-transformativen symbolischen Ungleichheiten erhalten geblieben. Diese Strukturen werden in der Dissertation als eine sozialistische Soziokultur definiert, die menschliches Handeln im veränderten Umfeld des Marktes vermittelt. Die sozialistische hierarchische Ordnung differenziert chinesische Bürger entlang der Trennlinien sozialistischen symbolischen Kapitals. Die Ergebnisse der multiple correspondence analysis zeigen, dass sowohl im Kontext des urbanen als auch des ländlichen Chinas die Beständigkeit des staatssozialistischen hierarchischen Systems eine wichtige Rolle für die heutige soziale Struktur spielt. Auf den Ergebnissen der quantitativen Forschung, die menschliches Handeln wird in der meritokratischen Gesellschaft durch sozialistische hierarchische Vermächtnisse symbolisch ausgehandelt. Gleichzeitig funktioniert die Persistenz des Habitus des staatssozialistischen hierarchischen Systems als unsichtbarer Mechanismus der Reproduktion von Ungleichheiten im China der Reformpolitik. / This study specifically aims to explore whether or not inequality in today's China is reproduced from the historical state-socialist class system and, if so, how the reproduction of inequality happens. The sociocultural perspective allows for the interpretation of inequality as an unequal distribution of symbolic capital, which reveals that the symbolic mediation of human practice is the structural root of inequality. This symbolically mediated practice is called habitus, which has been systematically developed by Pierre Bourdieu and utilized to explain how the reproduction of inequality happens. As the embodied logic of human practice that is acquired from knowledge and experience within a symbolic world, habitus organizes human practice to seek out and reproduce the conditions from which the habitus has developed. With regard to the case of China in this dissertation, some state-socialist hierarchical arrangements are maintained in the form of symbolic inequalities under reform, and are defined together as a socialist socioculture that is hypothesized to mediate human practice in a market environment. These socialist hierarchical arrangements distinguish Chinese citizens along the lines of socialist symbolic capital. Empirically, the results of multiple correspondence analysis demonstrate that in both rural and urban China, the persistence of the state-socialist hierarchical system plays an important role in informing the social structure, even with the rise of emerging classes. Following the findings from the quantitative research, it was found that human practice in a meritocratic society is symbolically mediated by the socialist hierarchical legacies. Meanwhile, the maintenance of habitus acquired from the state-socialist hierarchical system is an invisible mechanism for reproducing inequality under reform.