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updating video organization
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@allie1998
allie1998 committed Dec 21, 2024
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Expand Up @@ -125,7 +125,6 @@ <h1 class="title is-1 publication-title">Finding Intuitive Action Spaces for Whe
</div>
</section>


<!-- Teaser video-->
<section class="hero teaser">
<div class="container is-max-desktop">
Expand All @@ -140,16 +139,11 @@ <h1 class="title is-1 publication-title">Finding Intuitive Action Spaces for Whe
<h2 class="subtitle has-text-centered">
Point and Go mode switching reallocates the cartesian
mode switching reference frames into a more intuitive action
space comprised of a new translation mode and a rotation
mode. We use a novel sweeping motion to point the gripper,
space. We use a novel sweeping motion to point the gripper,
which defines the new translation axis along the robot base
frame’s horizontal plane. This creates an intuitive ‘point and
go’ translation mode that allows the user to easily perform
complex, human-like movements that would not be possible
with cartesian mode switching. The system’s rotation mode
combines position control with a refined end effector oriented
frame that provides precise and consistent robot actions in
various end effector poses.
frame’s horizontal plane.

By combining rotation and translation in wrist movements, we minimize mode switches while providing more human-like actions to control the robot with. Hence, just Point and Go!
</h2>
</div>
</div>
Expand Down Expand Up @@ -179,98 +173,99 @@ <h2 class="title is-3">Abstract</h2>
</section>
<!-- End paper abstract -->

<!-- Action Spaces -->
<div class="container is-max-desktop">
<div class="my-block">
<div class="column is-centered">
<h2 class="title is-3">Experiments</h2>
<div class="column is-centered">
<h2 class="title is-3">Point and Go Action Space</h2>
<h2 class="content has-text-justified">
PnG is comprised of a translation mode and a rotation
mode. Horizontal wrist motions point the end-effector to define the translation axis along the robot base
frame’s horizontal plane. This creates an intuitive ‘point and
go’ translation mode that allows the user to easily perform
complex, human-like movements that would not be possible
with cartesian mode switching. The system’s rotation mode
combines position control with a refined end effector oriented
frame that provides precise and consistent robot actions in
various end effector poses.
</h2>
<div class="columns is-vcentered is-centered">
<div class="column has-text-justified">
<p style="text-align:center">
Translation Mode
</p>
<br>
<video poster="" id="trans" autoplay muted loop height="100%" width="100%">
<source src="static/videos/translations.mp4">
</video>

<h2 class="content has-text-justified">
We verify our results with separate translation and orientation experiments to evaluate each contribution to Point and Go. Then, we conduct a 3 task user study to compare PnG to Cartesian mode switching and SCL, a state of the art learning method.
</h2>
</div>

<div class="column has-text-centered">
<p style="text-align:center">
Rotation Mode
</p>
<br>
<video id="rot" autoplay muted loop height="100%" width="100%">
<source src="static/videos/rotations.mp4">
</video>

<div>
<div class="columns is-vcentered is-centered">
<video poster="" id="tree" autoplay muted loop height="80%" width="80%">
<!-- Your video here -->
<source src="static/videos/experiments.mp4"
type="video/mp4">
</video>
</div>
</div>
<h2 class="subtitle has-text-centered">
<br><br><br>
</h2>
</div>
</div>
</div>
</div>
<!-- End Action Spaces -->

<!-- Experiments -->
<div class="container is-max-desktop">
<div class="my-block">
<div class="column is-centered">
<h2 class="title is-3">Point and Go in Action</h2>
<br>
<h2 class="title is-3">Experiments</h2>

<h2 class="content has-text-justified">
Here we can see a user completing key ADLs using Point and Go mode switching. By combining rotation and translation in wrist movements, we minimize mode switches while providing more human-like actions to control the robot with.
We verify our results with separate translation and orientation experiments to evaluate each contribution to Point and Go. Then, we conduct a 3 task user study to compare PnG to Cartesian mode switching and SCL, a state of the art learning method.
</h2>

<div>
<div class="columns is-vcentered is-centered">
<video poster="" id="tree" autoplay muted loop height="80%" width="80%">
<!-- Your video here -->
<source src="static/videos/examples.mp4"
<video poster="" id="tree" autoplay muted loop height="70%" width="70%">
<source src="static/videos/experiments.mp4"
type="video/mp4">
</video>
<br><br><br>
</div>
</div>
<h2 class="subtitle has-text-centered">
<br><br><br>
</h2>
</div>
</div>


<!-- End Experiments -->

<!-- Image carousel -->
<section class="hero is-small">
<div class="hero-body">
<div class="container">
<h2 class="title is-3">Trajectory Plots</h2>
<h2 class="content has-text-justified">
<!-- <br> -->
Trajectory plots from our user study support the intuitive nature of Point and Go mode switching. The following sample trajectories show the start (blue) and end (red) of three trajectories for each task and control. We observe that when using PnG, trajectories are smoother and more direct to targets. Cartesian mode switching's trajectories show discontinuous movement with many adjustments, suggesting a less user friendly control system.
</h2>
<div id="results-carousel" class="carousel results-carousel">
<div class="item">
<!-- Your image here -->
<div class="container is is-max-desktop">
<div class="column is-centered">
<h2 class="title is-3">Trajectory Plots
</h2>
<h2 class="content has-text-justified">
Trajectory plots from our user study support the intuitive nature of Point and Go mode switching. The following sample trajectories show the start (blue) and end (red) of three trajectories for each task and control. We observe that when using PnG, trajectories are quantifiably smoother and more direct to targets. Cartesian mode switching's trajectories show discontinuous movement with many adjustments, suggesting a less user friendly control system.
</h2>
<div id="results-carousel" class="carousel results-carousel">
<div class="item">
<img src="static/images/traj_banana.png" alt="MY ALT TEXT"/>
<!-- <h2 class="subtitle has-text-centered">
First image description.
</h2> -->
</div>
<div class="item">
<!-- Your image here -->
<img src="static/images/traj_pour.png" alt="MY ALT TEXT"/>
<!-- <h2 class="subtitle has-text-centered">
Second image description.
</h2> -->
</div>
<div class="item">
<!-- Your image here -->
<img src="static/images/traj_cabinet2.png" alt="MY ALT TEXT"/>
<!-- <h2 class="subtitle has-text-centered">
Third image description.
</h2> -->
</div>

</div>
</div>
</div>
</div>
</div>
</section>


<!-- End image carousel -->


<!-- Paper poster -->
<!-- <section class="hero is-small is-light">
<div class="hero-body">
Expand All @@ -285,7 +280,6 @@ <h2 class="title">Poster</h2>
</section> -->
<!--End paper poster -->


<!--BibTex citation -->
<!-- <section class="section" id="BibTeX">
<div class="container is-max-desktop content">
Expand All @@ -295,7 +289,6 @@ <h2 class="title">BibTeX</h2>
</section> -->
<!--End BibTex citation -->


<footer class="footer">
<div class="container">
<div class="columns is-centered">
Expand All @@ -304,7 +297,7 @@ <h2 class="title">BibTeX</h2>

<p>
This page was built using the <a href="https://github.com/eliahuhorwitz/Academic-project-page-template" target="_blank">Academic Project Page Template</a> which was adopted from the <a href="https://nerfies.github.io" target="_blank">Nerfies</a> project page.
</a>.
</a>
</p>

</div>
Expand All @@ -313,11 +306,5 @@ <h2 class="title">BibTeX</h2>
</div>
</footer>

<!-- Statcounter tracking code -->

<!-- You can add a tracker to track page visits by creating an account at statcounter.com -->

<!-- End of Statcounter Code -->

</body>
</html>
</body>
</html>
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