Skip to content

Commit

Permalink
⚡ add video
Browse files Browse the repository at this point in the history
  • Loading branch information
@jc-bao
jc-bao committed Sep 21, 2024
1 parent 2429a20 commit e1d0456
Show file tree
Hide file tree
Showing 11 changed files with 71 additions and 13 deletions.
84 changes: 71 additions & 13 deletions index.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -127,17 +127,17 @@ <h1 class="title is-1 publication-title">Full-Order Sampling-Based MPC for Torqu
<div class="content has-text-centered">
<h2 class="title is-3">Overview Video</h2>
<!-- invert static/videos/intro.mov -->
<!-- <video poster="" id="intro" autoplay controls muted loop playsinline height="100%">
<source src="" type="video/mp4">
</video> -->
<video poster="" id="intro" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/dial_mpc_project_teaser_video.mp4" type="video/mp4">
</video>
</div>
</div>
</section>

<section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<h2 class="title is-3 has-text-centered">Highlights (TODO: put rendered / real-world videos here)</h2>
<h2 class="title is-3 has-text-centered">Highlights</h2>
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
Expand All @@ -149,7 +149,41 @@ <h2 class="title is-3 has-text-centered">Highlights (TODO: put rendered / real-w
<source src="./static/videos/jump.mp4" type="video/mp4">
</video>
</div>

<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/h1_jog.mp4" type="video/mp4">
</video>
</div>
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/go2_sim_climb.mp4" type="video/mp4">
</video>
</div>

<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/go2_real_run.mp4" type="video/mp4">
</video>
</div>

<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/go2_real_jump.mp4" type="video/mp4">
</video>
</div>

<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/go2_sim_forward.mp4" type="video/mp4">
</video>
</div>

<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/go2_sim_backward.mp4" type="video/mp4">
</video>
</div>

</div>
</div>
</div>
Expand Down Expand Up @@ -197,8 +231,8 @@ <h2 class="title is-3">Abstract</h2>
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<!-- include a figure -->
<figure class="image">
<img src="./static/images/teaser.png" alt="Teaser" style="max-width: 100%;">
<figure class="image is-flex is-justify-content-center">
<img src="./static/images/teaser.png" alt="Teaser" style="max-width: 50%;">
</figure>
<p>
DIAL-MPC is a sampling-based MPC framework with a novel diffusion-style annealing process.
Expand All @@ -224,8 +258,8 @@ <h2 class="title is-3">What is DIAL-MPC?</h2>
<b>
DIAL-MPC is a <u>training-free</u> full-order torque-level legged robot controller:
</b>
DIAL-MPC is a MPC framework that can optimize over full-order quadruped dynamics in
real-time without heavy assumption on dynamics and cost functions.
DIAL-MPC is a MPC framework that can optimize over full-order legged robot dynamics in
real-time without heavy assumption on dynamics and cost functions. (i.e. plug-and-play with any model and cost function)
To our knowledge, this is the first framework achieving both real-time flexibility
and RL-level agility in legged locomotion.
</p>
Expand All @@ -235,10 +269,34 @@ <h2 class="title is-3">What is DIAL-MPC?</h2>
Diffusion-style Annealing:
</b>
To achieve efficient real-time locomotion, DIAL-MPC extends MPPI with a diffusion-style
annealing process to achieve better global coverage and local convergence.
annealing process in both <u>trajectory-level</u> and <u>action-level</u> to achieve better global coverage and local convergence.
</p>
<!-- include video traj_annealing_combined.mp4 -->

<figure class="image">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/traj_annealing_combined.mp4" type="video/mp4">
</video>
<!-- add caption -->
<p>
Trajectory-level annealing: at certain time step, DIAL-MPC optimizes the planned trajectory iteratively.
</p>
</figure>
<!-- anther video action_annealing_combined.mp4 -->

<figure class="image">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/action_anneling.mp4" type="video/mp4">
</video>
<p>
Action-level annealing: across different time step, the same action is optimized when doing receding horizon with a scheduled sampling kernel.
</p>
</figure>
</div>

</div>


</div>
</div>
</section>
Expand All @@ -260,7 +318,7 @@ <h2 class="title is-3">How Does DIAL-MPC Work?</h2>
Our theoretical analysis reveals that MPPI is a single-stage diffusion process, where the score
function is approximated with Monte Carlo sampling.
</p>
<figure class="image">
<figure class="image is-flex is-justify-content-center">
<img src="./static/images/demo_task.png" alt="Demo Task" style="max-width: 50%;">
</figure>
<p>
Expand All @@ -269,7 +327,7 @@ <h2 class="title is-3">How Does DIAL-MPC Work?</h2>
</b>
Due to the sparsity and non-smooth nature of p0, MPPI either optimize a over-smoothed function or a highly non-smooth function, leading to suboptimal solutions or high variance. Diffusion process overcomes this problem by iteratively refining solutions over a series of smoothing levels.
</p>
<figure class="image">
<figure class="image is-flex is-justify-content-center">
<img src="./static/images/demo_forward.png" alt="DIAL-MPC" style="max-width: 50%;">
</figure>
<p>
Expand All @@ -280,7 +338,7 @@ <h2 class="title is-3">How Does DIAL-MPC Work?</h2>
refines solutions in a diffusion manner, leading to better coverage and convergence for
contact-rich locomotion tasks.
</p>
<figure class="image">
<figure class="image is-flex is-justify-content-center">
<img src="./static/images/demo_compare.png" alt="DIAL-MPC" style="max-width: 50%;">
</figure>
</div>
Expand Down
Binary file added static/videos/action_anneling.mp4
View file
Binary file not shown.
Binary file added static/videos/dial_mpc_project_teaser_video.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_real_jump.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_real_run.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_sim_backward.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_sim_climb.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_sim_forward.mp4
View file
Binary file not shown.
Binary file added static/videos/go2_viz.mp4
View file
Binary file not shown.
Binary file added static/videos/h1_jog.mp4
View file
Binary file not shown.
Binary file added static/videos/traj_annealing_combined.mp4
View file
Binary file not shown.

0 comments on commit e1d0456

Please sign in to comment.