Comprehensive update to the project page

.gitignore

@@ -6,4 +6,4 @@ _site
 .jekyll-metadata
 vendor
 Gemfile.lock
-
+*__pycache__

_config.yml

@@ -37,11 +37,12 @@ footer:
   connections:
     arxiv: https://arxiv.org/abs/
     github: https://github.com/roahmlab/crows
+    googledrive: https://drive.google.com/drive/folders/1y82zpWuKaZmejr7AXxctpPKblB2tOSW9?usp=sharing
   # related-sites:
   #   sites:
   #     - text: Base Example
   #       href: /project-pages/
-  #       icon: bi-box-arrow-left
+  #       icon: bi-file-earmark-text-fill
   #       icon-library: bootstrap-icons
 
 

css/stylesheet.scss

@@ -49,3 +49,52 @@ $data-fonts: ({%- for font in site.data.fonts.fonts -%}{{ font.class }}: {{- fon
 // $table-text-align:  left;
 
 @import "{{ site.theme }}";
+
+// Add some video flex styling
+.video-container {
+    display: flex;
+    flex-wrap: wrap;
+    justify-content: space-around;
+    column-gap: 0.1rem;
+    row-gap: 0.2rem;
+    padding: 0;
+    margin: 0;
+    .video-item {
+        min-width: 320px;
+        max-width: 100%;
+        flex-shrink: 2;
+        flex-basis: 30%;
+        flex-grow: 1;
+        @include media-query(mobile) {
+            min-width: 100%;
+        }
+        video {
+            width: 100%;
+            height: auto;
+            display: block;
+        }
+        &.tighter {
+            min-width: 120px;
+            flex-basis: 30%;
+            @include media-query(mobile) {
+                flex-basis: 120px;
+                flex-grow: 1;
+                flex-shrink: 1;
+                min-width: 0;
+            }
+        }
+        p {
+            text-align: center;
+            font-weight: bold;
+        }
+    }
+}
+
+// Force a smaller margin on h2
+h2 {
+    margin-top: 0.4em !important;
+}
+
+.content > .wrapper > .authors > .box > .single:last-child {
+
+}

index.markdown

@@ -26,9 +26,16 @@ authors:
     email: kwonys [at] umich.edu
   - name: Jonathan Michaux
     email: jmichaux [at] umich.edu
+  - name: Seth Isaacson
+    email: sethgi [at] umich.edu
+  - name: Bohao Zhang
+    email: jimzhang [at] umich.edu
+  - name: Matthew Ejakov
+    email: ejakovm [at] umich.edu
   - name: Ram Vasudevan
     email: ramv [at] umich.edu
 
+
 # If you just want a general footnote, you can do that too.
 # See the sel_map and armour-dev examples.
 author-footnotes:
@@ -42,10 +49,14 @@ links:
     icon-library: simpleicons
     text: Code
     url: https://github.com/roahmlab/crows
-  - icon: bi-file-earmark-text
+  - icon: bi-file-earmark-text-fill
     icon-library: bootstrap-icons
     text: Appendix
     url: assets/documents/CROWS_Appendix.pdf
+  - icon: googledrive
+    icon-library: simpleicons
+    text: Dataset
+    url: https://drive.google.com/drive/folders/1y82zpWuKaZmejr7AXxctpPKblB2tOSW9?usp=sharing
 
 # End Front Matter
 ---
@@ -68,14 +79,15 @@ links:
       muted
       loop
       style="display:block; width:100%; height:auto;"
-      poster="assets/front_figure.png">
-      <!-- <source src="assets/.mp4" type="video/mp4"> -->
+      poster="assets/images/bookshelf_thumb.jpg">
+      <source src="assets/videos/bookshelf.mp4" type="video/mp4">
       Your browser does not support this video.
     </video>
-    <p>CROWS performing trajectory planning between two bookshelfs </p>
+    <p>CROWS performing trajectory planning between two bookshelfs</p>
   </div>
 </div> <!-- END OVERVIEW VIDEOS -->
 
+
 <!-- BEGIN ABSTRACT -->
 <div markdown="1" class="content-block justify grey">
 
@@ -89,27 +101,163 @@ Safe motion planning algorithms are necessary for deploying autonomous robots in
 
 # [Method](#method)
 
-![link_construction](./assets/method_overview.png)
-{: style="width: 90%; display: block; margin: 0 auto;" }
+![link_construction](./assets/images/method_overview.png)
+{: class="fullwidth"}
 
 
 <!-- # Contributions -->
 This paper proposes Conformalized Reachable Sets for Obstacle Avoidance With Spheres (CROWS), a neural network-based safety representation that can be efficiently integrated into a trajectory optimization algorithm. CROWS extends SPARROWS<sup>[1](https://roahmlab.github.io/sparrows/)</sup>  by learning an overapproximation of the swept volume (i.e. reachable set) of a serial robot manipulator that is composed entirely of spheres. Prior to planning, a neural network is trained to approximate the sphere-based reachable set. Then, CROWS applies conformal prediction to compute a confidence bound that provides a probabilistic safety guarantee. Finally, CROWS uses the conformalized reachable set and its learned gradient to solve an optimization problem to generate probabilistically-safe trajectories online.
 
+![link_construction](./assets/images/conformal_prediction.png)
+{: style="width: 70%; display: block; margin: 0 auto;" }
+
+
+
+Panel (A) compares the ground truth (left, purple), predicted (middle, orange), and conformalized (right, pink) reachable sets. To construct the conformalized reachable set, CROWS first defines the nonconformity score, which is the minimum buffer (blue) to ensure that the predicted sphere (orange) encloses the ground truth sphere (purple) (Panel C). The distribution of the nonconformity scores for joint 4 over a time interval $$T_i$$ with the values defining the quantiles indicated in blue (Panel B). Next, conformal prediction computes a confidence bound that upper bounds the nonconformity scores with a probability of $$1 − \epsilon$$. The predicted joint sphere (A, middle) is then expanded by the size of this confidence bound to give the conformalized joint sphere (A, right). Finally, applying this procedure for all of the joint spheres gives the conformalized neural (A, right) reachable set that is guaranteed to cover the ground truth reachable set with probability greater than $$(1 − \epsilon)^{n_q+1}$$, where $$n_q$$ is the number of actuated joints (Thm. 5).
+
+
+
 </div><!-- END METHOD -->
 
 <!-- START RESULTS -->
 <div markdown="1" class="content-block grey justify">
 
-# [Simulation Results](#simulation-results)
-Comming soon...
+# [Results](#results)
+
+## [Simulation Results](#simulation-results)
+<!-- START SIMULATION VIDEOS -->
+<div class="video-container">
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/realistic_1_thumb.jpg">
+      <source src="assets/videos/realistic_1.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/realistic_2_thumb.jpg">
+      <source src="assets/videos/realistic_2.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/realistic_3_thumb.jpg">
+      <source src="assets/videos/realistic_3.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/realistic_4_thumb.jpg">
+      <source src="assets/videos/realistic_4.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/realistic_5_thumb.jpg">
+      <source src="assets/videos/realistic_5.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+</div><!-- END SIMULATION VIDEOS -->
+
+## [Hardware Results](#hardware-results)
+<!-- START HARDWARE VIDEOS -->
+<div class="video-container">
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/hardware_demo_1_thumb.jpg">
+      <source src="assets/videos/hardware_demo_1.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/hardware_demo_2_thumb.jpg">
+      <source src="assets/videos/hardware_demo_2.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+  <div class="video-item tighter">
+    <video
+      class="autoplay-in-frame"
+      preload="none"
+      disableremoteplayback
+      disablepictureinpicture
+      playsinline
+      muted
+      loop
+      poster="assets/images/hardware_demo_3_thumb.jpg">
+      <source src="assets/videos/hardware_demo_3.mp4" type="video/mp4">
+      Your browser does not support this video.
+    </video>
+  </div>
+</div><!-- END HARDWARE VIDEOS -->
+
+
+
 </div><!-- END RESULTS -->
 
 <div markdown="1" class="justify">
 
 # [Related Projects](#related-projects)
-
+
+
 * [Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres](https://roahmlab.github.io/sparrows/)
+* [Let’s Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat](https://roahmlab.github.io/splanning/)
+* [Reachability-based Trajectory Design with Neural Implicit Safety Constraints](https://roahmlab.github.io/RDF/)
 
 <div markdown="1" class="content-block grey justify">
 
@@ -120,7 +268,7 @@ This project was developed in [Robotics and Optimization for Analysis of Human M
 ```bibtex
 @article{kwon2024crows,
   title={Conformalized Reachable Sets for Obstacle Avoidance With Spheres},
-  author={Yongseok Kwon and Jonathan Michaux and Ram Vasudevan},
+  author={Yongseok Kwon and Jonathan Michaux and and Seth Isaacson and Bohao Zhang and Matthew Ejakov and Ram Vasudevan},
   journal={},
   year={2024},
   volume={},