The Institute for Artificial Intelligence (IAI) investigates methods for cognition-enabled robot control. The research is at the intersection of robotics and Artificial Intelligence and includes methods for intelligent perception, dexterous object manipulation, plan-based robot control, machine learning and knowledge representation for robots.Robots performing complex tasks in open domains, such as assisting humans in a household or collaboratively assembling products in a factory, need to have cognitive capabilities for interpreting their sensor data, understanding scenes, selecting and parameterizing their actions, recognizing and handling failures and interacting with humans. In our research, we are developing solutions for these kinds of issues and implement and test them on the robots in our laboratory. A particular focus of the group is on the integration of individual methods into complete cognition-enabled robot control systems and the release of the developed software as open-source libraries.