The "guys from the XDA", exactly sefnap, RieGo and zzeneg have ported the QuickRemote app for LG G2 and G3 and made it working on all AOSP based ROMs.
The default SELinux policy for android was changed to enforcing mode in Lollipop to increase security. This restricts the functionality of some apps, so for QuickRemote to work we have to change the SELinux policy back to permissive mode until we have a better solution.
Instructions? Classic; just flasth the ZIP. Don't forget to make a backup, or at least download the uninstall version zip (that will remove the mod once flashed).
First make sure the init.d support is enabled, you can use this app.