Playing Atari with Deep Reinforcement Learning                                                                  Spring, 2017

  •  Used deep learning model to learn control policies directly from high-dimensional sensory input

      using convolutional neural network trained with a variant of Q-learning.

Simultaneous Localization and Mapping with Particle Filter(SLAM)                                      Spring, 2017

  • Integrated the IMU orientation and odometry information from a walking humanoid robot with a 2D

     laser range scanner (LIDAR) in order to build a 2D occupancy grid map of the walls and obstacles in

     the environment.

Orientation Estimation using Unscented Kalman Filter                                                          Spring, 2017

  • Estimated the underlying 3D orientation by learning the appropriate model parameters from ground

     truth data given by a Vicon motion capture system.

Automatic Face Replacement in video in Computer Vision                                                       Fall, 2016

  • Implemented face keypoints detection and matching using shape context and Pictorial Structure.

  • Performed face warping using TPS and poisson blending to replace the face.

Structure by motion: 3D reconstruction in Machine Perception                                            Spring, 2016

  • Implemented the full pipeline of structure from motion including two view reconstruction, triangulation,

     Perspective-n-Point, and bundle adjustment.