shaoanlu

Achievements

shaoanlu /README.md

Working as a Control Software Engineer.
Grew up in Taiwan, residing in the vibrant city of Tokyo, Japan.
Interested in Control Systems, Optimization, and Deep Generative Models.
Currently engaged in the exploration of Software Architecture within Robotic Systems.

Control and Optimization
- Diffusion policy for Quadrotor Control: Implements cutting-edge diffusion models for imitation learning in quadrotor control.
- Safety Filter for Collision Avoidance: Employs Control Barrier Functions (CBF) as safety filters for collision avoidance.
- Motion Planning with MPPI: Integrates Model Predictive Control and CBF in a sampling-based approach for motion planning.
Deep Learning and Computer Vision
- Few-Shot Face Translation: Features Generative Adversarial Networks trained on the VGGFace2 dataset for face-translation with few-shot examples.
- Face Swapping GAN: Applies Generative Adversarial Networks for face-swapping in images.
- Facial Analysis Toolbox: Offers a collection of deep learning models for facial analysis in Keras.

llm_mjx_go1_playground llm_mjx_go1_playground Public

An example using an LLM to navigate a quadruped in an unknown environment through trial and error. Based on mujoco playground.

Python 13 3
diffusion_policy_quadrotor diffusion_policy_quadrotor Public

A simple demo of imitation learning based on diffusion policy for quadrotor control

Jupyter Notebook 46 5
CBF_QP_safety_filter CBF_QP_safety_filter Public

Control barrier function as safety filter with disturbance observer

Python 43 4
pyNMPC pyNMPC Public

Nonlinear Model Predictive Control (NMPC) based on CVXPY and JAX in Python

Python 17 3
mppi_cbf mppi_cbf Public

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

Jupyter Notebook 137 20
fewshot-face-translation-GAN fewshot-face-translation-GAN Public

Generative adversarial networks integrating modules from FUNIT and SPADE for face-swapping.

Jupyter Notebook 799 121