Yiren Lu

quadrotor. Quadrotor control, path planning and trajectory optimization

irl-imitation. Implementation of Inverse Reinforcement Learning (IRL) algorithms in Python/Tensorflow. Deep MaxEnt, MaxEnt, LPIRL

reinforcement_learning. Implementation of selected reinforcement learning algorithms in Tensorflow. A3C, DDPG, REINFORCE, DQN, etc.

non-convex. Self-contained implementation of non-convex optimization algorithms in Python. Steepest Descent, Conjugate Gradient, Newton's Method, Quasi-newton (BFGS), l-BFGS

image_mosaic_stitching. Implemented a pipeline for 2D image mosaic and stitching. Feature extraction & matching, Adaptive Non-Maximal Suppression (ANMS), geometric blur, RANSAC

orientation_tracking-unscented_kalman_filter. Implemented Unscented Kalman Filter (UKF) for orientation tracking. Sensors fusion of accelerometer, and gyroscope

vision-based_estimations. Vision-based Robot 3D Poses and Velocities Estimation

seamless_face_replacement. Implemented a pipeline for automatic face replacement in videos (without deep learning). Image morphing, triangulation, TPS, Poisson blending, etc.

image_color_segmentation-gmm. Implemented Gaussian Mixture Models (GMM) for image color segmentation.

Teaism. A full-fledged yet minimalistic CUDA-based convolutional neural network library from scratch in C++

twitter_users_gender_classification. 92% gender prediction accuracy based on users' tweets and profile pictures.

SLAM-particle-filter. Particle-filter based SLAM.

face_morphing_tps. Implemented face morphing algorithm based on Thin-Plate Splines

gestures_recognition_hmm. Implemented a Hidden Markov Model (HMM) for gestures recognition

path_planning_imitation_learning. Path planning on high resolution aerial map based on imitation learning. Learn a cost-to-go map from demonstrations.

3d_reconstruction-ICP. Implemented Iterative Closest Point (ICP) method for 3d reconstruction