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Add robot localization experiment, add code link and citation
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@janapavlasek
janapavlasek committed Mar 11, 2024
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49 changes: 25 additions & 24 deletions projects/stein-bp/index.html
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Expand Up @@ -93,11 +93,11 @@ <h3><a href="https://fabioramos.github.io/">Fabio Ramos</a></h3>
<p>
<a href="https://arxiv.org/abs/2311.16916"><i class="far fa-file-pdf"></i>&nbsp;&nbsp;Preprint</a>&nbsp;&nbsp;
<a href="https://youtu.be/buRdZnahwBc"><i class="fab fa-youtube"></i>&nbsp;&nbsp;Video</a>&nbsp;&nbsp;
<a href="https://openreview.net/pdf?id=fDsqkXx1Ild"><i class="far fa-file-pdf"></i>&nbsp;&nbsp;Workshop Paper</a>&nbsp;&nbsp;
<!-- <a href="https://openreview.net/pdf?id=fDsqkXx1Ild"><i class="far fa-file-pdf"></i>&nbsp;&nbsp;Workshop Paper</a>&nbsp;&nbsp; -->
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<!-- <a href="#"><i class="fas fa-chalkboard-teacher"></i>&nbsp;&nbsp;Talk</a>&nbsp;&nbsp; -->
<!-- <a href="#"><i class="fas fa-code"></i>&nbsp;&nbsp;Code</a>&nbsp;&nbsp; -->
<!-- <a href="#cite"><i class="fas fa-quote-right"></i>&nbsp;&nbsp;Cite</a> -->
<a href="https://github.com/janapavlasek/multi-robot-svbp"><i class="fab fa-github"></i>&nbsp;&nbsp;Code</a>&nbsp;&nbsp;
<a href="#cite"><i class="fas fa-quote-right"></i>&nbsp;&nbsp;Cite</a>
</p>
</div>

Expand All @@ -108,19 +108,19 @@ <h3><a href="https://fabioramos.github.io/">Fabio Ramos</a></h3>
<h2>Multi-Robot Perception</h2>
</header>

<p style="margin-bottom: 1em;">We implement our SVBP on a graph problem simulating perception under challenging noise conditions. The goal is to localize each node in the "spider" where the observation is the multi-modal Gaussian shown in the video.</p>
<p style="margin-bottom: 1em;">We implement our SVBP on a graph problem simulating multi-robot perception under challenging noise conditions. The goal is to localize each robot given the displacement between neighboring robots and a the multi-modal Gaussian observation shown in the video.</p>

<div class="row aln-center exp-grid">
<div class="col-5 col-5-large col-5-medium col-8-small">
<div class="col-5 col-5-large col-6-medium col-12-small">
<p style="text-align: center; margin: 0;"><b>SVBP (Ours)</b></p>
<div class="image experiment centered">
<img src="images/exp/spider/sbp_50_spider_30_1.gif" alt="" />
<img src="images/exp/multi-loc/sbp_50_robots_30_3.gif" alt="" />
</div>
</div>
<div class="col-5 col-5-large col-5-medium col-8-small">
<div class="col-5 col-5-large col-6-medium col-12-small">
<p style="text-align: center; margin: 0;"><b>Particle Belief Propagation</b></p>
<div class="image experiment centered">
<img src="images/exp/spider/pbp_nodes_50_spider_30_1.gif" alt="" />
<img src="images/exp/multi-loc/pbp_nodes_50_robots_30_3.gif" alt="" />
</div>
</div>
</div>
Expand All @@ -137,39 +137,39 @@ <h2>Multi-Robot Planning</h2>
<p>We apply SVBP to the multi-robot planning problem. Below are video results for each scene in the dataset.</p>

<div class="row aln-center exp-grid">
<div class="col-4 col-4-large col-5-medium col-8-small">
<div class="col-4 col-4-large col-6-medium col-12-small">
<div class="image experiment centered">
<video controls>
<source src="images/exp/planar/svbp/svbp_swap_rooms_0.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
</div>
<div class="col-4 col-4-large col-5-medium col-8-small">
<div class="col-4 col-4-large col-6-medium col-12-small">
<div class="image experiment centered">
<video controls>
<source src="images/exp/planar/svbp/svbp_obstacles_mix_circle_0.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
</div>
<div class="col-4 col-4-large col-5-medium col-8-small">
<div class="col-4 col-4-large col-6-medium col-12-small">
<div class="image experiment centered">
<video controls>
<source src="images/exp/planar/svbp/svbp_squares_3x3_cross_0.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
</div>
<div class="col-4 col-4-large col-5-medium col-8-small">
<div class="col-4 col-4-large col-6-medium col-12-small">
<div class="image experiment centered">
<video controls>
<source src="images/exp/planar/svbp/svbp_squares_swap_0.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
</div>
<div class="col-4 col-4-large col-5-medium col-8-small">
<div class="col-4 col-4-large col-6-medium col-12-small">
<div class="image experiment centered">
<video controls>
<source src="images/exp/planar/svbp/svbp_end_of_lessons_0.mp4" type="video/mp4">
Expand All @@ -184,7 +184,7 @@ <h3>Baselines</h3>
<p>We implement different baselines to compare our algorithm. Click through the examples for each below.</p>

<div class="row aln-center">
<div class="col-5 col-5-large col-5-medium col-8-small project-author">
<div class="col-5 col-5-large col-6-medium col-12-small project-author">
<div class="slideshow-wrapper">
<div class="slideshow-container" id="gabp-mpc-slideshow">
<div class="image slide">
Expand Down Expand Up @@ -225,7 +225,7 @@ <h3>Baselines</h3>
<h3>Gaussian Belief Propagation</h3>
<p>A version of our algorithm with a Gaussian trajectory distribution instead of a nonparametric one. The GaBP baseline is more likely to fall into local minima.</p>
</div>
<div class="col-5 col-5-large col-5-medium col-8-small project-author">
<div class="col-5 col-5-large col-6-medium col-12-small project-author">
<div class="slideshow-wrapper">
<div class="slideshow-container" id="orca2-mpc-slideshow">
<div class="image slide">
Expand Down Expand Up @@ -266,7 +266,7 @@ <h3>Gaussian Belief Propagation</h3>
<h3>ORCA (20 cm radius)</h3>
<p>The popular ORCA method (van den Berg 2011) is efficient but not as smooth as SVBP and prone to deadlock.</p>
</div>
<div class="col-5 col-5-large col-5-medium col-8-small project-author">
<div class="col-5 col-5-large col-6-medium col-12-small project-author">
<div class="slideshow-wrapper">
<div class="slideshow-container" id="orca4-mpc-slideshow">
<div class="image slide">
Expand Down Expand Up @@ -310,20 +310,21 @@ <h3>ORCA (40 cm radius)</h3>
</div>
</article>

<!-- <article class="box post">
<article class="box post">
<header id="cite">
<h2>Citation</h2>
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The whitespace between <pre> tags will be preserved exactly how it is in the code.
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<div class="citation">
<pre><code>@inproceedings{pavlasek2023svbp,
author = {Last, First and Last, First and ...},
title = {Paper title},
year = {2020}
<pre><code>@inproceedings{pavlasek2024stein,
title={Stein Variational Belief Propagation for Multi-Robot Coordination},
author={Pavlasek, Jana and Mah, Joshua Jing Zhi and Xu, Ruihan and Jenkins, Odest Chadwicke and Ramos, Fabio},
booktitle={Robotics and Automation Letters (RA-L)},
year={2024}
}</code></pre>
</div>
</article> -->
</article>

</div>
</section>
Expand All @@ -333,7 +334,7 @@ <h2>Citation</h2>
<!-- Copyright -->
<div id="copyright">
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<li>&copy; 2023. All rights reserved.</li><li>Design: Dopetrope by
<li>&copy; 2024. All rights reserved.</li><li>Design: Dopetrope by
<a href="http://twitter.com/ajlkn">AJ</a> for <a href="http://html5up.net/">HTML5 UP</li>
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