Lihan Lian

Lihan Lian

Robotics enthusiast. Passionate about optimal control and deep learning.

Open Source Projects

▪ Basic-and-Fast-Neural-Style-Transfer

Simplified implementation of basic neural style transfer and fast neural style transfer in PyTorch.
[Code]      [Blog Post]

▪ Cartoon-VAE-Diffusion

Minimal implementation of VAE and diffusion models for cartoon images generation..
[Code]      [Blog Post]    

▪ Cartpole-DQN-DDPG-PPO

Minimal implementation of RL algorithms (DQN, DDPG and PPO) in Isaac Gym cartpole environment.
[Code]      [Blog Post 1] (DQN & DDPG)      [Blog Post 2] (PPO)

▪ Motion-Planning-MPC

Modular implementation of basic motion planning algorithm that based on Model Predictive Control (MPC) and Control Barrier Function (CBF).
[Code]      [Slide]

▪ MuJoCo-RMP2-PyTorch

Collection of small-scale projects for testing robotics algorithms in the MuJoCo simulator. (Ongoing project)
[Code]      [Blog Post]    

▪ Simple-MPC-CBF

Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barrier Function (CBF).
[Code]      [Report]      [Slide]

▪ Trajectory-Tracking-ILC

Use Iterative Learning Control (ILC) for trajectory tracking task with the existence of model mismatch. Model Predictive Control (MPC) is also used for comparison.
[Code]      [Report]      [Slide]