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]

▪ cartpole-dqn-ddpg-ppo

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

▪ 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-playground

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

▪ 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]