Skip to content

Commit

Permalink
website upgrades
Browse files Browse the repository at this point in the history
  • Loading branch information
Matthew Sivaprakasam authored and Matthew Sivaprakasam committed Dec 16, 2024
1 parent 1a796fe commit c55cc69
Show file tree
Hide file tree
Showing 7 changed files with 87 additions and 20 deletions.
Binary file modified .DS_Store
View file
Binary file not shown.
Binary file modified assets/.DS_Store
View file
Binary file not shown.
Binary file added assets/colorbars.png
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Binary file added assets/costbar.png
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Binary file added assets/results/metrics.png
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Binary file added assets/title_v7.png
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
107 changes: 87 additions & 20 deletions index.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,13 @@
display: none; /* Hide the component by default */
}

.image-overlay {
position: absolute;
right: 0;
top: 50%;
transform: translateX(30%) translateY(-50%);
}

@media only screen and (min-width: 768px) {
.blockMobile {
display: block; /* Show the component for screen width 768px and above (desktop) */
Expand All @@ -65,10 +72,27 @@
display: none; /* Hide the component by default */
}

.bar-image {
max-width: 100px;
height: auto;
}

@media only screen and (max-width: 768px) {
.showMobile {
display: block; /* Show the component for screen width 768px and above (desktop) */
}

.image-overlay {
position: relative; /* Move the image below the text */
top: 0;
transform: none; /* Remove vertical centering */
margin-top: 20px; /* Space between text and image */
margin-right: 0; /* Remove right alignment */
}

.bar-image {
display: none;
}
}

#dynamic-content {
Expand Down Expand Up @@ -163,7 +187,7 @@ <h1 class="title is-2 publication-title">SALON: Self-supervised Adaptive Learnin
</a>
</span>
<span class="link-block">
<a href=""
<a href="https://arxiv.org/abs/2412.07826"
class="external-link button is-normal ">
<span class="icon">
<i class="ai ai-arxiv"></i>
Expand Down Expand Up @@ -224,24 +248,36 @@ <h1 class="title is-2 publication-title">SALON: Self-supervised Adaptive Learnin
<source src="./assets/videos/Turnpike_Merged_1_small.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="coolname">staying on trail while avoiding uncertain objects such as tires</span>
</h2>
</div>
<div class="item item-chair-tp">
<video poster="" id="steve" autoplay controls muted loop playsinline width="100%">
<source src="./assets/videos/Turnpike_Merged_2_small.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="coolname">preference for smooth vegetation, without human labels</span>
</h2>
</div>
<div class="item item-chair-tp">
<video poster="" id="steve" autoplay controls muted loop playsinline width="100%">
<source src="./assets/videos/Wheelchair_Merged_1_small.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="coolname">quick adaptation to novel terrain (cobblestone)</span>
</h2>
</div>
<div class="item item-chair-tp">
<video poster="" id="steve" autoplay controls muted loop playsinline width="100%">
<source src="./assets/videos/Anymal_Merged_1_small.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="coolname">easy deployment on other robots</span>
</h2>
</div>

<!-- <div class="item item-chair-tp">
Expand Down Expand Up @@ -295,7 +331,7 @@ <h1 class="title is-2 publication-title">SALON: Self-supervised Adaptive Learnin
<div class="container is-max-desktop">
<div class="hero-body">

<img source src="assets/title.png" />
<img source src="assets/title_v7.png" />

<h2 class="subtitle has-text-centered">
<span class="coolname">with one prior hand-label, our system running SALON learns from its own experience in the real-world to predict where and how fast to drive.</span>
Expand Down Expand Up @@ -327,7 +363,7 @@ <h2 class="title is-3">Overview</h2>
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">How It Works</h2>
<h2 class="title is-3">VFMs + Proprioception + Smart Buffer Management = Fast Adaptation</h2>
<div class="content has-text-justified">
<img source src="assets/flowchart.png" />
<p>
Expand All @@ -339,6 +375,22 @@ <h2 class="title is-3">How It Works</h2>
</div>
</section>

<section class="hero is-small is-light">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Fast Adaptation Example</h2>
<div class="content has-text-justified">
<img source src="assets/results/adaptation_fig8.png" />
<p>
Example of SALON's fast adaptation: Within 10 seconds of experiencing grass for the first time, SALON is able to quickly differentiate key terrains, such as, ideal short grass, riskier vegetation and lethal trees. </p>
</div>
</div>
</div>
</div>
</section>



<!-- <section class="section">
Expand All @@ -358,17 +410,17 @@ <h2 class="title is-3">Explore the Dataset!</h2>



<section class="hero is-small is-light">
<section class="hero is-small">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Autonomy Results</h2>
<div class="buttons is-centered">
<button class="button is-primary line-height-adjust button-shadow" onclick="showContent(1,1)">Autonomy<br />Course</button>
<button class="button is-link button-shadow" onclick="showContent(2,1)">Costmaps</button>
<button class="button is-info button-shadow" onclick="showContent(3,1)">Speedmaps</button>
<button class="button is-success button-shadow" onclick="showContent(4,1)">Adaptation</button>
<button class="button is-link button-shadow" onclick="showContent(2,1)">Show Costmaps</button>
<button class="button is-info button-shadow" onclick="showContent(3,1)">Show Speedmaps</button>
<button class="button is-success button-shadow" onclick="showContent(4,1)">Metrics</button>
</div>
<div id="dynamic-content">
<div class="content-section active" id="content-1-1">
Expand All @@ -380,7 +432,7 @@ <h2 class="title is-3">Autonomy Results</h2>
</div>
<div class="content-section" id="content-1-2">
<div class="content has-text-justified">
<p>SALON's is able to not only avoid lethal vegetation but also distinguish fine-grained terrain properties. Rough gravel in the middle of the trail below is higher cost than the smoother areas around it.</p>
<p>SALON is able to not only avoid lethal vegetation but also distinguish fine-grained terrain properties. Rough gravel in the middle of the trail below is higher cost than the smoother areas around it.</p>
<img src="assets/results/turnpike_hill.png" alt="Cosmtaps" />
</div>
</div>
Expand All @@ -391,19 +443,29 @@ <h2 class="title is-3">Autonomy Results</h2>
</div>
</div>
<div class="content-section" id="content-1-4">
<div class="content has-text-justified">
<p>We show our method on 5 laps of course 1 against 4 other baselines. With no prior experience except for one hand-label, it quickly adapts and by the second lap already demonstrates comparable performance to Velociraptor (the prior state of the art).</p>
<img src="assets/results/metrics.png" alt="metrics" />
</div>
</div>
<!-- <div class="content-section" id="content-1-4">
<div class="content has-text-justified">
<p>Example of SALON's fast adaptation: Within 10 seconds of experiencing grass for the first time, SALON is able to quickly differentiate key terrains, such as, ideal short grass, riskier vegetation and lethal trees.</p>
<img src="assets/results/adaptation_fig8.png" alt="Adaptation" />
</div>
</div>
</div> -->
</div>
</div>
<!-- <div class="column is-narrow is-align-self-center"> -->
<div class="column is-narrow image-overlay">
<img src="assets/colorbars.png" alt="colorbars" class="bar-image">
</div>
</div>
</div>
</div>
</section>

<section class="hero is-small">
<section class="hero is-small is-light">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
Expand All @@ -428,12 +490,15 @@ <h2 class="title is-3">Robot+Sensor Generalizability</h2>
</div>
</div>
</div>
<div class="column is-narrow image-overlay">
<img src="assets/costbar.png" alt="costbar" class="bar-image">
</div>
</div>
</div>
</div>
</section>

<section class="hero is-light">
<section class="hero">
<div class="hero-body">
<!-- Paper video. -->
<div class="columns is-centered has-text-centered">
Expand Down Expand Up @@ -467,20 +532,22 @@ <h2 class="title is-3">Video</h2>
});
</script>

<!-- <section class="section" id="BibTeX">
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title is-3">BibTeX</h2>
<pre><code>
@misc{sivaprakasam2024tartandrive,
title={TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks},
author={Matthew Sivaprakasam, Parv Maheshwari, Mateo Guaman Castro, Samuel Triest, Micah Nye, Steve Willits, Andrew Saba, Wenshan Wang, Sebastian Scherer},
year={2024},
eprint={2402.01913},
archivePrefix={arXiv},
primaryClass={cs.RO}}
@misc{sivaprakasam2024salonselfsupervisedadaptivelearning,
title={SALON: Self-supervised Adaptive Learning for Off-road Navigation},
author={Matthew Sivaprakasam and Samuel Triest and Cherie Ho and Shubhra Aich and Jeric Lew and Isaiah Adu and Wenshan Wang and Sebastian Scherer},
year={2024},
eprint={2412.07826},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2412.07826},
}
</code></pre>
</div>
</section> -->
</section>


<style>
Expand Down

0 comments on commit c55cc69

Please sign in to comment.