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<h1 class="hero-title"><br/><br/>Robust Perceptive Localization and Mapping in Challenging Environments</h1>
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<!-- About me and Biography start -->
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<h2>Turcan Tuna
</h2>
<h3>Ph.D. Candidate at Robotic Systems Lab, ETH Zurich
</h3>
<h3>
<a href="https://rsl.ethz.ch/" target="_blank" rel="noopener">
<span>ETH Zurich, Robotic Systems Lab</span>
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<h1>Biography</h1>
<div class="article-style">
<p>Currently, I am a Ph.D. student at <a href="https://ethz.ch/en.html" target="_blank" rel="noopener">ETH Zurich</a>, <a href="https://rsl.ethz.ch/" target="_blank" rel="noopener">Robotic Systems Lab</a>. I graduated from my master’s degree <a href="https://ethz.ch/en/studies/master/degree-programmes/engineering-sciences/robotics-systems-and-control.html" target="_blank" rel="noopener"> Robotics, Systems and Control</a> at <a href="https://ethz.ch/en.html" target="_blank" rel="noopener">ETH Zurich</a>, Switzerland. Before that, I received my bachelor’s degree in Mechanical Engineering with first place in my cohort and I recieved my second bachelor degree in Control Engineering and Automation.</p>
<p>My research mainly focuses on incorporating state-of-the-art optimization and machine learning approaches into robust localization and mapping frameworks. Specifically, I specialize in robust localization and perception in degenerate and challenging environments utilizing optimization and learning based methods. Additionally, I am highly interested in multi-modal fast volumetric mapping and efficient and consistent local and global representations.</p>
<p>For more information, please refer to my <a href="/uploads/resume.pdf" target="_blank">Curriculum Vitae</a> and <a href="/uploads/project_portfolio.pdf" target="_blank">Project Portfolio</a>.</p>
</div>
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<div class="section-subheading">Interests
</div>
<ul class="ul-interests mb-0">
<li>Robust Localization and Mapping</li>
<li>Self-Supervised Hybrid Machine Learning</li>
<li>Implicit Environment Representations</li>
<li>Robust Sensor Fusion</li>
</ul>
</div>
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<ul class="ul-edu fa-ul mb-0">
<li>
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<p class="course">MSc in Robotics, Systems and Control</p>
<p class="institution">ETH Zurich</p>
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</li>
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<p class="course">BSc in Control and Automation Engineering</p>
<p class="institution">Istanbul Technical University</p>
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</li>
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<p class="course">BSc in Mechanical Engineering</p>
<p class="institution">Istanbul Technical University</p>
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<h1 class="mb-0">Updates</h1>
</div>
<div class="col-12 col-lg-8">
<div style="height: 300px; overflow-y: scroll;">
<!-- 2023 start -->
<details open> <!-- <details open> -->
<summary>
<strong>2023</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>Feb 07: X-ICP, my latest T-RO journal submission got positive review! </strong>
</summary>
Revising my latest submission for publication for the next stage of the review process.
</details>
<p></p>
<details>
<summary>
<strong>Feb 03: Started to my Ph.D. studies in RSL. </strong>
</summary>
In my Ph.D. studies I am focusing on robust localization and mapping in degenerate environments. Particularly interested in global and local consistency of the generated environments improved and aided by hybrid learning methods.
</details>
</div>
</details>
<!-- 2023 start -->
<!-- 2022 start -->
<details> <!-- <details open> -->
<summary>
<strong>2022</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>May 01: Started as a Scientific Researcher at RSL.</strong>
</summary>
Right after my master MSc thesis, I started working on online mesh generation and dense mapping tool at RSL.
</details>
<p></p>
<details>
<summary>
<strong>April 27: Successfully defended my MSc Thesis.</strong>
</summary>
I have defended my MSc Thesis successfully in the form of a presentation and Q&A session.
</details>
</div>
</details>
<!-- 2022 start -->
<!-- 2021 start -->
<p></p>
<details>
<summary>
<strong>2021</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>March 01: I started my internship at ANYbotics AG.</strong>
</summary>
I started my internship at ANYbotics AG as a perception intern working on robust global localization and sensor fusion odometry systems.
</details>
</div>
</details>
<!-- 2021 end -->
<!-- 2020 start -->
<p></p>
<details>
<summary>
<strong>2020</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>Sep 01: I started my semester project at Autonomous Systems Lab (ASL), ETH Zurich, Switzerland.</strong>
</summary>
My semester project focused on Mid-air Initialization of an Agile Drones with Filter based localization. We relied on IMU and RGB data to estimate gravity vector orientation and IMU biases to jump start filter based localization.
</details>
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</details>
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<!-- 2019 start -->
<p></p>
<details>
<summary>
<strong>2019</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>July 27: I received my second bachelor degree on Control Engineering and Automation. Istanbul, Turkey.</strong>
</summary>
I graduated from my second bachelor degree on Control engineering and automation.
</details>
</div>
</details>
<!-- 2019 end -->
<!-- 2018 start -->
<p></p>
<details>
<summary>
<strong>2018</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>June 26: I was awarded my first Bachelor degree at Istanbul Technical University, Istanbul, Turkey.</strong>
</summary>
Received my first bachelor degree in Mechanical Engineering.
</details>
</div>
</details>
<!-- 2018 end -->
<!-- 2016 start -->
<p></p>
<details>
<summary>
<strong>2015</strong>
</summary>
<div style="margin-left:6px; padding-left:20px; border-left:1px solid;">
<p></p>
<details>
<summary>
<strong>March 01: I started my second bachelor major, Control Engineering and Automotion at Istanbul Technical UNiversity..</strong>
</summary>
XX
</details>
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</details>
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<h1 class="mb-0">Featured Publications</h1>
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<div class="col-12 col-lg-8">
<!-- Publication TRO start -->
<div class="card-simple view-card">
<div class="article-metadata">
<div>
<span class="author-highlighted">
Turcan Tuna</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Julian Nubert</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Yoshua Nava</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="ANYbotics AG, Zurich"></i>, <span >
Shehryar Khattak</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Marco Hutter</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
<span class="article-date">
,2022
</span>
</div>
<span class="middot-divider">
</span>
<span class="pub-publication">
<strong style="color:rgba(33, 183, 33, 0.588);">(Under-Review)</strong> for <em>IEEE Transactions on Robotics (T-RO)</em>
</span>
</div>
<a href="/publication/TRO/" >
<div class="img-hover-zoom">
<img src="/publication/TRO/website_OnlyRobotOverviewFigure.png" height="340" width="511"
class="article-banner" alt="X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments" loading="lazy">
</div>
</a>
<div class="section-subheading article-title mb-1 mt-3">
<a href="/publication/TRO/" >X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments</a>
</div>
<a href="/publication/TRO/" class="summary-link">
<div class="article-style">
<p> In this work we propose i) a robust multi-category (non-)localizability detection module, and ii) a localizability-aware constrained ICP optimization module and couples both in a unified manner. The proposed localizability detection is achieved by utilizing the correspondences between the scan and the map to analyze the alignment strength against the principal directions of the optimization as part of its multi-category LiDAR localizability analysis. In the second part, this localizability analysis is then tightly integrated into the scan-to-map point cloud registration to generate drift-free pose updates along well-constrained directions. </p>
</div>
</a>
<div class="btn-links">
<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://arxiv.org/pdf/2211.16335.pdf" target="_blank" rel="noopener">
PDF
</a>
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Cite
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<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://sites.google.com/leggedrobotics.com/x-icp">
Project
</a>
<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://www.youtube.com/watch?v=f-i-br-l5QA" target="_blank" rel="noopener">
Video
</a>
</div>
</div>
<!-- Publication TRO end -->
<!-- Publication SciRo start -->
<div class="card-simple view-card">
<div class="article-metadata">
<div>
<span class="author-highlighted">
Philip Arm</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Gabriel Waibel</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Jan Preisig</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Turcan Tuna</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Ruyi Zhou</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich and State Key Laboratory of Robotics and System, Harbin"></i>, <span >
Valentin Bickel</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Laboratory of Hydraulics, Hydrology and Glaciology, ETH Zurich"></i>, <span >
Gabriela Ligeza</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Department of Environmental Sciences, University of Basel"></i>, <span >
Takahiro Miki</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Floarian Kehl</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="nnovation Cluster Space and Aviation (UZH Space Hub), Air Force Center"></i>, <span >
Hendrik MiKolvenbach</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
Marco Hutter</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Robotics Systems Lab, ETH Zurich"></i>, <span >
<span class="article-date">
,2022
</span>
</div>
<span class="middot-divider">
</span>
<span class="pub-publication">
<strong style="color:rgba(33, 183, 33, 0.588);">(Under-review)</strong> in <em>Journal of Science Robotics</em>
</span>
</div>
<a href="/publication/sciRo/" >
<div class="img-hover-zoom">
<img src="/publication/sciRo/featured.webp" style="border:2px solid black" height="340" width="511"
class="article-banner" alt="Scientific Exploration of Challenging Planetary
Analog Environments with a Team of Legged Robots" loading="lazy">
</div>
</a>
<div class="section-subheading article-title mb-1 mt-3">
<a href="/publication/sciRo/" >Scientific Exploration of Challenging Planetary
Analog Environments with a Team of Legged Robots</a>
</div>
<a href="/publication/sciRo/" class="summary-link">
<div class="article-style">
<p>This article presents a team of legged robots for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, semantic and instance segmentation to highlight scientific targets,
and advanced payloads for remote and in-situ scientific investigation.</p>
</div>
</a>
<div class="btn-links">
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Video
</a>
</div>
</div>
<!-- Publication SciRo end -->
<!-- Publication 2022 start -->
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<div class="article-metadata">
<div>
<span class="author-highlighted">
Turcan Tuna</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Aykut Beke</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Tufan Kumbasar</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
</div>
<span class="article-date">
May, 2021
</span>
<span class="middot-divider">
</span>
<span class="pub-publication">
In <em>Journal of Applied Intelligence</em>
</span>
</div>
<a href="/publication/deepLearningJournal/" >
<div class="img-hover-zoom">
<img src="/publication/deepLearningJournal/featured.webp" style="border:2px solid black" height="340" width="511"
class="article-banner" alt="Deep learning frameworks to learn prediction
and simulation focused control system models" loading="lazy">
</div>
</a>
<div class="section-subheading article-title mb-1 mt-3">
<a href="/publication/deepLearningJournal/" >Deep learning frameworks to learn prediction
and simulation focused control system models</a>
</div>
<a href="/publication/deepLearningJournal/" class="summary-link">
<div class="article-style">
<p>In this work, we present Simulation and prediction focuced DNNs for non-linear system identification problem. Furthermore, we provide recommendations on how deep AEs and LSTMs should be utilized to end up with efficient Prediction-focused (Pf) and Simulation-focused
(Sf) DNNs for time series and system identification problems.</p>
</div>
</a>
<div class="btn-links">
<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://link.springer.com/article/10.1007/s10489-021-02416-0" target="_blank" rel="noopener">
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Cite
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<!-- Publication 2022 end -->
<!-- Publication 1 start -->
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<div>
<span class="author-highlighted">
Turcan Tuna</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Salih Ertug Ovur</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Etka Gokbel</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Tufan Kumbasar</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
</div>
<span class="article-date">
May, 2020
</span>
<span class="middot-divider">
</span>
<span class="pub-publication">
In <em>Journal of Aerospace Science and Technology</em>
</span>
</div>
<a href="/publication/follyJournal/" >
<div class="img-hover-zoom">
<img src="/publication/follyJournal/featured.webp" style="border:2px solid black" height="340" width="511"
class="article-banner" alt="Design and development of FOLLY: A self-foldable and self-deployable quadcopter" loading="lazy">
</div>
</a>
<div class="section-subheading article-title mb-1 mt-3">
<a href="/publication/follyJournal/" >Design and development of FOLLY: A self-foldable and self-deployable quadcopter</a>
</div>
<a href="/publication/follyJournal/" class="summary-link">
<div class="article-style">
<p>In this work, we extend the design principles of previously established a unique self foldable and self deployable autonomous quadcopter, FOLLY, for volume limited applications and fast steady deployment. We thoroughly explain the design principles and mechanics that drive FOLLY.</p>
</div>
</a>
<div class="btn-links">
<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://www.sciencedirect.com/science/article/pii/S1270963819328676?via%3Dihub" target="_blank" rel="noopener">
PDF
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</div>
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<!-- Publication 1 end -->
<!-- Publication 2 start -->
<div class="card-simple view-card">
<div class="article-metadata">
<div>
<span class="author-highlighted">
Turcan Tuna</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Salih Ertug Ovur</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Etka Gokbel</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
Tufan Kumbasar</span><i class="author-notes fas fa-info-circle" data-toggle="tooltip" title="Control and Automation Engineering Istanbul Technical University, Turkey"></i>, <span >
</div>
<span class="article-date">
October, 2018
</span>
<span class="middot-divider">
</span>
<span class="pub-publication">
In <em>CEIT(2018)</em> <span class="middot-divider"></span><strong style="color:rgb(255,0,0);">Best Paper Award</strong>
</span>
</div>
<a href="/publication/follyConference/" >
<div class="img-hover-zoom">
<img src="/publication/follyConference/featured.webp" height="340" width="511"
class="article-banner" alt="FOLLY: A Self Foldable and Self Deployable Autonomous Quadcopter" loading="lazy">
</div>
</a>
<div class="section-subheading article-title mb-1 mt-3">
<a href="/publication/follyConference/" >FOLLY: A Self Foldable and Self Deployable Autonomous Quadcopter</a>
</div>
<a href="/publication/follyConference/" class="summary-link">
<div class="article-style">
<p>In this work, we propose a unique self foldable and self deployable autonomous quadcopter for search and rescue deployment.</p>
</div>
</a>
<div class="btn-links">
<a class="btn btn-outline-primary btn-page-header btn-sm" href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8751883&tag=1" target="_blank" rel="noopener">
PDF
</a>
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<div class="section-subheading article-title mb-0 mt-0"><a href="https://sites.google.com/view/follyJournal-cassi/home" >Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions</a>
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Proposing a cooperative generative adversarial method for obtaining controllable skill sets from unlabeled datasets containing diverse state transition patterns.
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</div>
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<div class="col-12 col-md-6 order-first ">
<a href="https://sites.google.com/view/follyJournal-cassi/home" >
<img src="/project//featured_hu15b99c0445c7d97865d9632c36dfe2a8_539922_540x0_resize_q75_h2_lanczos_3.webp" height="304" width="540"
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<div class="section-subheading article-title mb-0 mt-0"><a href="https://sites.google.com/view/follyConference/home" >FOLLY: A Self Foldable and Self Deployable Autonomous Quadcopter</a>
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Proposing a generative adversarial method for inferring reward functions from partial and potentially physically incompatible demonstrations for successful skill acquirement where reference or expert demonstrations are not easily accessible.
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alt="FOLLY: A Self Foldable and Self Deployable Autonomous Quadcopter" loading="lazy">
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-sp-alma/" >Object Manipulation via Hierarchical Reinforcement Learning Control</a>
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Employing a hierarchical control method to achieve complex high-level tasks by integrating locomotion and manipulation skills.
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-sp/" >Autonomous Pose Tracking with Compositional Reinforcement Learning Policies</a>
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Employing a novel compositional control structure to allow legged systems to achieve full-pose trajectory tracking in a global coordinate system by integrating learned skills.
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-forl/" >Hierarchical Deep Reinforcement Learning for Legged Robot Navigation</a>
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Learning to utilize learned low-level skills in high-level tasks by considering only high-level objectives.
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<a href="/project/eth-forl/" >
<img src="/project/eth-forl/featured_huaf51b41f6e763d9c8b86175766cac5a4_64688_540x0_resize_q75_h2_lanczos_3.webp" height="369" width="540"
alt="Hierarchical Deep Reinforcement Learning for Legged Robot Navigation" loading="lazy">
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-pai-4/" >Actor-Critic Reinforcement Learning for a Lunar Lander</a>
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<div class="article-style">
Extending vanilla policy gradients with advantage estimation.
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<a class="btn btn-outline-primary btn-page-header" href="https://github.com/tutunarsl/eth-probabilistic-artificial-intelligence/tree/main/Task%204" target="_blank" rel="noopener">
Code
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<div class="col-12 col-md-6 order-first order-md-2">
<a href="/project/eth-pai-4/" >
<img src="/project/eth-pai-4/featured_hu7b0b9e73cc03d00181d028ae6c4c829b_32015_540x0_resize_q75_h2_lanczos_3.webp" height="462" width="540"
alt="Actor-Critic Reinforcement Learning for a Lunar Lander" loading="lazy">
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</div>
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-pai-1/" >Gaussian Process Regression for Groundwater Pollution Prediction</a>
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Predicting model posterior distribution with Gaussian Process regression from scratch, which is then applied to an inference problem based on space data.
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<a class="btn btn-outline-primary btn-page-header" href="https://github.com/tutunarsl/eth-probabilistic-artificial-intelligence/tree/main/Task%201" target="_blank" rel="noopener">
Code
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<a href="/project/eth-pai-1/" >
<img src="/project/eth-pai-1/featured_hua22aad5e4e530f2cdc3d56154f4f7d61_235960_540x0_resize_q75_h2_lanczos_3.webp" height="267" width="540"
alt="Gaussian Process Regression for Groundwater Pollution Prediction" loading="lazy">
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-pai-3/" >Hyperparameter Tuning with Constrained Bayesian Optimization</a>
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Joint training of model and objective with appropriate acquisition function and constraint satisfaction.
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<a class="btn btn-outline-primary btn-page-header" href="https://github.com/tutunarsl/eth-probabilistic-artificial-intelligence/tree/main/Task%203" target="_blank" rel="noopener">
Code
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<div class="col-12 col-md-6 order-first order-md-2">
<a href="/project/eth-pai-3/" >
<img src="/project/eth-pai-3/featured_hu3916bd853045e0064782203a2933aa2f_171726_540x0_resize_q75_h2_lanczos_3.webp" height="263" width="540"
alt="Hyperparameter Tuning with Constrained Bayesian Optimization" loading="lazy">
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<div class="section-subheading article-title mb-0 mt-0"><a href="/project/eth-pai-2/" >Predicting Uncertainty with Bayesian Neural Networks on MNIST Dataset</a>
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Comparing classification uncertainty prediction with DenseNets and Bayesian Neural Networks.