-
Notifications
You must be signed in to change notification settings - Fork 0
/
index.html
311 lines (279 loc) · 12.6 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<!-- Meta tags for social media banners, these should be filled in appropriatly as they are your "business card" -->
<!-- Replace the content tag with appropriate information -->
<meta name="description" content="DESCRIPTION META TAG">
<meta property="og:title" content="SOCIAL MEDIA TITLE TAG"/>
<meta property="og:description" content="SOCIAL MEDIA DESCRIPTION TAG TAG"/>
<meta property="og:url" content="URL OF THE WEBSITE"/>
<!-- Path to banner image, should be in the path listed below. Optimal dimenssions are 1200X630-->
<meta property="og:image" content="static/image/your_banner_image.png" />
<meta property="og:image:width" content="1200"/>
<meta property="og:image:height" content="630"/>
<meta name="twitter:title" content="TWITTER BANNER TITLE META TAG">
<meta name="twitter:description" content="TWITTER BANNER DESCRIPTION META TAG">
<!-- Path to banner image, should be in the path listed below. Optimal dimenssions are 1200X600-->
<meta name="twitter:image" content="static/images/your_twitter_banner_image.png">
<meta name="twitter:card" content="summary_large_image">
<!-- Keywords for your paper to be indexed by-->
<meta name="keywords" content="KEYWORDS SHOULD BE PLACED HERE">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>DexPlat: Real-Time Dexterous Manipulation Transfer from Human Demonstrations</title>
<link rel="icon" type="image/x-icon" href="static/images/favicon.ico">
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="static/css/bulma.min.css">
<link rel="stylesheet" href="static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="static/css/bulma-slider.min.css">
<link rel="stylesheet" href="static/css/fontawesome.all.min.css">
<link rel="stylesheet"
href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="static/css/index.css">
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script src="https://documentcloud.adobe.com/view-sdk/main.js"></script>
<script defer src="static/js/fontawesome.all.min.js"></script>
<script src="static/js/bulma-carousel.min.js"></script>
<script src="static/js/bulma-slider.min.js"></script>
<script src="static/js/index.js"></script>
<style>
.video-container {
display: flex;
flex-wrap: wrap;
justify-content: space-between;
width: 100%;
}
.video-item {
flex: 1 1 30%; /* 每行三个视频 */
margin: 10px;
}
video {
width: 100%; /* 视频宽度填满每个容器 */
height: auto;
}
</style>
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">DexPlat: Real-Time Dexterous Manipulation Transfer from Human Demonstrations</h1>
<div class="is-size-5 publication-authors">
<!-- Paper authors -->
<span class="author-block">
<a target="_blank">Yinxiao Tian</a><sup>1</sup>,</span>
<span class="author-block">
<a target="_blank">Zinan Zhao</a><sup>1</sup>,</span>
<span class="author-block">
<a target="_blank">Xiangchen Liu</a><sup>1</sup>,</span>
<span class="author-block">
<a target="_blank">Mingyu Cai</a><sup>2</sup>,</span>
<span class="author-block">
<a target="_blank">Zhen Kan</a><sup>1</sup></span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>University of Science and Technology of China,
<sup>2</sup>University of California, Riverside
<br>submit to ICRA 2025</span>
<!-- <span class="eql-cntrb"><small><br><sup>*</sup>Indicates Equal Contribution</small></span> -->
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- Arxiv PDF link -->
<span class="link-block">
<a href="https://arxiv.org/pdf/<ARXIV PAPER ID>.pdf" target="_blank" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- Supplementary PDF link -->
<!-- <span class="link-block">
<a href="static/pdfs/supplementary_material.pdf" target="_blank" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Supplementary</span>
</a>
</span> -->
<!-- Github link -->
<span class="link-block">
<a href="https://github.com/tobottyx/dexplat.git" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- ArXiv abstract Link -->
<!-- <span class="link-block">
<a href="https://arxiv.org/abs/<ARXIV PAPER ID>" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span> -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- Teaser video-->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video poster="" id="tree" autoplay controls muted loop height="100%">
<!-- Your video here -->
<source src="static/videos/bianhuan.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
main_video
</h2>
</div>
</div>
</section>
<!-- End teaser video -->
<!-- Paper abstract -->
<section class="section hero is-light">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
This article introduces an integrated platform, namely DexPlat, specifically designed to facilitate the transfer of human dexterous manipulations to robot hands through demonstration in different conditions. It employs an effective mapping method that enables the real-time transfer of human hand gestures to various dexterous robot hands using only a monocular camera, even in environments with varying levels of shade and self-obscuring elements. By incorporating pose and angle constraints, the high degree-of-freedom (DOF) dexterous hand, equipped with a root swinging function for the fingers, can achieve human-like postures while avoiding finger collisions. The dexterous hand mapping algorithm has been enhanced to address DOF discrepancies between human and robotic hands, significantly improving real-time skill transfer. This method has demonstrated superior performance in both simulated and physical environments
</p>
</div>
</div>
</div>
</div>
</section>
<!-- End paper abstract -->
<section class="hero is-small">
<div class="hero-body">
<div class="container" style="text-align: center;">
<div class="item">
<!-- 插入单张图片 -->
<img src="static/images/frame3.png" alt="MY ALT TEXT" width="1000" height="1000" style="display: block; margin: 0 auto;" />
<h2 class="subtitle has-text-centered">
Framework of DexPlat
</h2>
</div>
</div>
</div>
</section>
<!-- Image carousel -->
<section class="hero is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item" style="text-align: center;">
<!-- First image -->
<img src="static/images/grasp_dexycb.png" alt="MY ALT TEXT" style="display: block; margin: 0 auto; width: 800px; height: 600px;" />
<h2 class="subtitle has-text-centered">
Grasp objects in Dexycb
</h2>
</div>
<div class="item" style="text-align: center;">
<!-- Second image -->
<img src="static/images/real_world.png" alt="MY ALT TEXT" style="display: block; margin: 0 auto; width: 800px; height: 600px;" />
<h2 class="subtitle has-text-centered">
Real-world experiments
</h2>
</div>
<div class="item" style="text-align: center;">
<!-- Third image -->
<img src="static/images/manipulations.png" alt="MY ALT TEXT" style="display: block; margin: 0 auto; width: 800px; height: 600px;" />
<h2 class="subtitle has-text-centered">
The tasks of using nail guns, scissors, and door opening
</h2>
</div>
<div class="item" style="text-align: center;">
<!-- Fourth image -->
<img src="static/images/sim_3.png" alt="MY ALT TEXT" style="display: block; margin: 0 auto; width: 800px; height: 600px;" />
<h2 class="subtitle has-text-centered">
Other tasks in simulation
</h2>
</div>
</div>
</div>
</div>
</section>
<!-- End image carousel -->
<section class="my_sectoion">
<div class="video-container">
<!-- 第一行 -->
<div class="video-item">
<video src="static/videos/beizi.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Grasp a cup
</h2>
</div>
<div class="video-item">
<video src="static/videos/jibenben.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Open a laptop
</h2>
</div>
<div class="video-item">
<video src="static/videos/shupian.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Grasping a chips can
</h2>
</div>
<!-- 第二行 -->
<div class="video-item">
<video src="static/videos/drill.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Proper use of a nail gun
</h2>
</div>
<div class="video-item">
<video src="static/videos/box.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Grasp a foam brick
</h2>
</div>
<div class="video-item">
<video src="static/videos/hammer.mp4" controls></video>
<h2 class="subtitle has-text-centered">
Catch a hammer
</h2>
</div>
</section>
<!--BibTex citation -->
<!-- <section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>BibTex Code Here</code></pre>
</div>
</section> -->
<!--End BibTex citation -->
<footer class="footer">
<div class="container">
<div class="columns is-centered">
<div class="column is-8">
<div class="content">
<p>
This webpage is created by Yinxiao Tian. For any questions regarding papers, please contact [email protected].
</p>
</div>
</div>
</div>
</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>