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abhaybd committed May 20, 2024
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<body>
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<h1 class="title is-1 publication-title">CCIL: Continuity-based Data Augmentation for Corrective Imitation
Expand All @@ -56,16 +56,27 @@ <h1 class="title is-1 publication-title">CCIL: Continuity-based Data Augmentatio
</div>

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Show Publication Info
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Hide Publication Info
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<svg class="collapsed-icon svg-inline--fa fa-file-pdf fa-w-12" aria-hidden="true" focusable="false" data-prefix="fas" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><path d="M233.4 406.6c12.5 12.5 32.8 12.5 45.3 0l192-192c12.5-12.5 12.5-32.8 0-45.3s-32.8-12.5-45.3 0L256 338.7 86.6 169.4c-12.5-12.5-32.8-12.5-45.3 0s-12.5 32.8 0 45.3l192 192z"/></svg>
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Expand Down Expand Up @@ -114,15 +125,6 @@ <h3 class="title publication-title">CCIL: Continuity-based Data Augmentation for
<span>arXiv</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/personalrobotics/CCIL" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
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Expand Down Expand Up @@ -170,15 +172,6 @@ <h3 class="title publication-title">Data Efficient Behavior Cloning for Fine Man
<span>arXiv</span>
</a>
</span>
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<span class="link-block">
<a href="https://github.com/personalrobotics/CCIL" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<svg class="svg-inline--fa fa-github fa-w-16" aria-hidden="true" focusable="false" data-prefix="fab" data-icon="github" role="img" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512" data-fa-i2svg=""><path fill="currentColor" d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"></path></svg><!-- <i class="fab fa-github"></i> Font Awesome fontawesome.com -->
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Expand Down Expand Up @@ -216,6 +209,80 @@ <h2 class="title is-2">Abstract</h2>
we demonstrate CCIL's effectiveness in improving imitation learning performance.
</p>
</div>
<div class="content has-text-centered">
<video controls>
<source src="./static/videos/CCIL.mp4" type="video/mp4">
</video>
</div>
</div>
</div>

<div class="has-text-centered is-centered">
<h3 class="title is-3 mb-5">Impact of Corrective Labels</h3>
</div>

<div class="columns is-centered has-text-centered is-mobile is-multiline">
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Grasp Cube</h4>
<div class="captioned-vid">
<p class="is-hidden-mobile">With Corrective Labels</p>
<p class="is-hidden-tablet">With Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/ccil_cube_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<p class="is-hidden-mobile">Without Corrective Labels</p>
<p class="is-hidden-tablet">Without Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/bc_cube_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent can knock over the cube while trying to grasp it.
</p>
</div>
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Gear Insert</h4>
<div class="captioned-vid">
<!-- <p class="is-hidden-tablet">With Corrective Labels</p> -->
<video class="synced-2" muted>
<source src="./static/videos/ccil_lego_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<!-- <p class="is-hidden-tablet">Without Corrective Labels</p> -->
<video class="synced-2" muted>
<source src="./static/videos/bc_lego_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent is not precise enough to reliably insert the gear.
</p>
</div>
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Grasp Coin</h4>
<div class="captioned-vid">
<p class="is-hidden-tablet">With Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/ccil_coin_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<p class="is-hidden-tablet">Without Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/bc_coin_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent is not able to precisely grasp the coin in the right place.
</p>
</div>
</div>

Expand Down Expand Up @@ -328,82 +395,17 @@ <h2 class="title is-2">Abstract</h2>
</div>
</div>
</div>
</div>
</section>

<div class="has-text-centered is-centered">
<h3 class="title is-3 mb-5">Impact of Corrective Labels</h3>
</div>
<div class="columns is-centered has-text-centered is-mobile is-multiline">
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Grasp Cube</h4>
<div class="captioned-vid">
<p class="is-hidden-mobile">With Corrective Labels</p>
<p class="is-hidden-tablet">With Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/ccil_cube_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<p class="is-hidden-mobile">Without Corrective Labels</p>
<p class="is-hidden-tablet">Without Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/bc_cube_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent can knock over the cube while trying to grasp it.
</p>
</div>
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Gear Insert</h4>
<div class="captioned-vid">
<!-- <p class="is-hidden-tablet">With Corrective Labels</p> -->
<video class="synced-2" muted>
<source src="./static/videos/ccil_lego_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<!-- <p class="is-hidden-tablet">Without Corrective Labels</p> -->
<video class="synced-2" muted>
<source src="./static/videos/bc_lego_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent is not precise enough to reliably insert the gear.
</p>
</div>
<div class="column is-3 is-half-mobile">
<h4 class="title is-4 vid-title">Grasp Coin</h4>
<div class="captioned-vid">
<p class="is-hidden-tablet">With Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/ccil_coin_success.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<div class="captioned-vid">
<p class="is-hidden-tablet">Without Corr. Labels</p>
<video class="synced-2" muted>
<source src="./static/videos/bc_coin_failure.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p>
Without corrective labels, the agent is not able to precisely grasp the coin in the right place.
</p>
</div>
</div>

<hr>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-2">CCIL</h2>
<div class="content has-text-centered">
<video controls>
<source src="./static/videos/CCIL.mp4" type="video/mp4">
</video>
<h2 class="title is-2">CCIL Framework Overview</h2>
<div class="conent has-text-centered">
<img src="./static/images/ccil_overview.png" alt="CCIL Overview" style="max-width: 90%;" />
</div>
<div class="content has-text-justified">
<p>
Expand Down
4 changes: 4 additions & 0 deletions static/css/index.css
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Expand Up @@ -248,6 +248,10 @@ body {
text-wrap: nowrap;
}

section.section {
padding-top: 0;
}

@media screen and (max-width: 768px) {
.mb-5-mobile {
margin-bottom: 1.5rem;
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