PageSourceSearch

https://rsathua.github.io/ARGUS/

html rsathua.github.io collected 2026-10-03 09:52:10 UTC 35,522 bytes, 732 lines download raw bytes

1<!DOCTYPE html>
2<html>
3<head>
4  <meta charset="utf-8">
5  <meta name="description"
6        content="ARGUS: Aligning Robot Geometry Under Shifting Views with Large 3D Vision Models">
7  <meta name="keywords" content="ARGUS, VGGT">
8  <meta name="viewport" content="width=device-width, initial-scale=1">
9  <title>ARGUS: Aligning Robot Geometry Under Shifting Views</title>
10
11  
11<script>
12    
vendor: 163 bytes, lines 12-20
12window.dataLayer = window.dataLayer || [];
13
14    function gtag() {
15      dataLayer.push(arguments);
16    }
17
18    gtag('js', new Date());
19
20    gtag('config', '
20G-PYVRSFMDRL
vendor: 7 bytes, lines 20-21
20');
21  
21</script>
21
22
23  <link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
24        rel="stylesheet">
25
26  <link rel="stylesheet" href="./static/css/bulma.min.css">
27  <link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
28  <link rel="stylesheet" href="./static/css/bulma-slider.min.css">
29  <link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
30  <link rel="stylesheet"
31        href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
32  <link rel="stylesheet" href="./static/css/index.css">
33  <link rel="icon" href="./static/images/favicon.svg">
34
35  
35<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
35
36  
36<script defer src="./static/js/fontawesome.all.min.js"></script>
36
37  
37<script src="./static/js/bulma-carousel.min.js"></script>
37
38  
38<script src="./static/js/bulma-slider.min.js"></script>
38
39  
39<script src="./static/js/index.js"></script>
39
40</head>
41<body>
42
43<nav class="navbar" role="navigation" aria-label="main navigation">
44  <div class="navbar-brand">
45    <a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
46      <span aria-hidden="true"></span>
47      <span aria-hidden="true"></span>
48      <span aria-hidden="true"></span>
49    </a>
50  </div>
51  <div class="navbar-menu">
52    <div class="navbar-start" style="flex-grow: 1; justify-content: center;">
53      <a class="navbar-item" href="https://rsathua.github.io/">
54      <span class="icon">
55          <i class="fas fa-home"></i>
56      </span>
57      </a>
58
59      <div class="navbar-item has-dropdown is-hoverable">
60        <a class="navbar-link">
61          More Research
62        </a>
63        <div class="navbar-dropdown">
64          <a class="navbar-item" href="https://arjung128.github.io/svm/">
65            Servoing with Vision Models
66          </a>
67          <a class="navbar-item" href="https://arjung128.github.io/opening-cabinets-and-drawers/">
68            MOSART
69          </a>
70        </div>
71      </div>
72    </div>
73
74  </div>
75</nav>
76
77
78<section class="hero">
79  <div class="hero-body">
80    <div class="container is-max-desktop">
81      <div class="columns is-centered">
82        <div class="column has-text-centered">
83          <h1 class="title is-1 publication-title">ARGUS: <u>A</u>ligning <u>R</u>obot Scene <u>G</u>eometry <u>U</u>nder <u>S</u>hifting Views with Large 3D Vision Models</h1>
84          <div class="is-size-5 publication-authors">
85            <span class="author-block">
86              <a href="https://rsathua.github.io/">Rishik Sathua</a><sup>1</sup>,</span>
87            <span class="author-block">
88              <a href="https://haonan16.github.io/">Haonan Chen</a><sup>2</sup>,</span>
89            <span class="author-block">
90              <a href="https://krdc.web.illinois.edu/">Katherine Driggs-Campbell</a><sup>1</sup>,
91            </span>
92          </div>
93
94          <div class="is-size-5 publication-authors">
95            <span class="author-block"><sup>1</sup>University of Illinois at Urbana-Champaign,</span>
96            <span class="author-block"><sup>2</sup>Harvard University</span>
97          </div>
98
99          <div class="column has-text-centered">
100            <div class="publication-links">
101              <!-- PDF Link. -->
102              <span class="link-block">
103                <a href="https://arxiv.org/pdf/2608.05579"
104                   class="external-link button is-normal is-rounded is-dark">
105                  <span class="icon">
106                      <i class="fas fa-file-pdf"></i>
107                  </span>
108                  <span>Paper</span>
109                </a>
110              </span>
111              <span class="link-block">
112                <a href="https://arxiv.org/abs/2608.05579"
113                   class="external-link button is-normal is-rounded is-dark">
114                  <span class="icon">
115                      <i class="ai ai-arxiv"></i>
116                  </span>
117                  <span>arXiv</span>
118                </a>
119              </span>
120              <span class="link-block">
121                <a class="external-link button is-normal is-rounded is-dark"
122                  style="pointer-events: none; opacity: 0.5; cursor: default;"
123                  aria-disabled="true">
124                  <span class="icon">
125                    <i class="fab fa-github"></i>
126                  </span>
127                  <span>Code Coming Soon</span>
128                </a>
129                <!-- <a href="https://github.com/google/nerfies"
130                   class="external-link button is-normal is-rounded is-dark">
131                  <span class="icon">
132                      <i class="fab fa-github"></i>
133                  </span>
134                  <span>Code</span>
135                  </a> -->
136              </span>
137              <!--<span class="link-block">
138                <a href="https://github.com/google/nerfies/releases/tag/0.1"
139                   class="external-link button is-normal is-rounded is-dark">
140                  <span class="icon">
141                      <i class="far fa-images"></i>
142                  </span>
143                  <span>Data</span>
144                  </a>
145              </span>-->
146              <span class="link-block">
147                <a href="https://www.youtube.com/watch?v=z3SqkawwJYg"
148                   class="external-link button is-normal is-rounded is-dark">
149                  <span class="icon">
150                      <i class="fab fa-youtube"></i>
151                  </span>
152                  <span>Video</span>
153                </a>
154              </span>
155            </div>
156
157          </div>
158        </div>
159      </div>
160    </div>
161  </div>
162</section>
163
164<section class="hero teaser">
165  <div class="container is-max-desktop">
166    <div class="hero-body">
167      <div class="has-text-centered">
168        <img src="./videos/teaser.gif" width="720">
169      </div>
170      <h2 class="subtitle has-text-centered">
171        With ARGUS, we can efficiently train policies that maintain strong performance despite dramatic viewpoint changes.
172      </h2>
173    </div>
174  </div>
175</section>
176
177<section class="section">
178  <div class="container is-max-desktop">
179    <div class="columns is-centered has-text-centered">
180      <div class="column is-four-fifths">
181        <h2 class="title is-3">Overview</h2>
182            <div class="publication-video">
183              <iframe src="https://www.youtube.com/embed/z3SqkawwJYg?rel=0&amp;showinfo=0"
184                      frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
185            </div>
186          </div>
187        </div>
188      </div>
189    </div>
190  </div>
191</section>
192<section class="section">
193  <div class="container is-max-desktop">
194    <!-- Abstract. -->
195    <div class="columns is-centered has-text-centered">
196      <div class="column is-four-fifths">
197        <h2 class="title is-3">Abstract</h2>
198        <img src="./images/teaser_cropped.png">
199        <div class="content has-text-justified">
200          <p>
201            Large-scale visuomotor policies have demonstrated impressive performance across a wide range 
202            of robot manipulation tasks. However, despite this success, manipulation polices often entangle 
203            scene geometry with the corresponding viewpoint, learning where objects lie in an image rather 
204            than where it lies in the task space. This entanglement inherently limits the corresponding 
205            policy's ability to learn from viewpoint-diverse datasets (ex. DROID, BridgeV2) and generalize 
206            beyond the viewpoints captured in their training data. 
207          </p>
208          <p>
209            In this work, we present ARGUS, an observation pre-processing pipeline that uses large-scale 3D 
210            vision models to align image observations from arbitrary camera viewpoints into a canonical 
211            viewpoint before passing it to downstream visuomotor policies. Experiments across training datasets 
212            with varying levels of viewpoint diversity, from fixed multi-view camera configurations to highly 
213            varied camera placements, show that our method consistently outperforms prior approaches across both 
214            limited-view and view-diverse training regimes. In efficiency comparisons, ARGUS demonstrates 
215            an ability to learn from view-diverse data, achieving high success rates <b>4–6×</b> faster than previous 
216            methods by leveraging a simplified observation space. Overall, our findings indicate that, by 
217            leveraging knowledge from 3D vision models, ARGUS reduces the learning burden on general 
218            visuomotor policies and takes a step toward the efficient utilization of large-scale robot datasets.
219          </p>
220        </div>
221      </div>
222    </div>
223    <!--/ Abstract. -->
224  </div>
225</section>
226
227<section class="section">
228  <div class="container is-max-widescreen">
229    <div class="rows">
230      <div class="rows is-centered">
231        <div class="row is-full-width">
232          <h2 class="title is-3 has-text-centered mb-1">Interactive Dataset Visualizer</h2>
233          <p class="d-md-block d-none has-text-centered is-size-5 mt-1 mb-4">(Showing random trajectory of 100 trajectories from put marker in cup dataset)</p>
234
235          <div class="video_grid_container">
236            <div class="video_row">
237              <div class="video_grid">
238                <div class="video_grid_item"><div class="vsc-controller"></div>
239                  <video id="sample-cam0" class="grid-video training" autoplay muted loop playsinline height="40%">
240                    <source id="sample-cam0-src" src="" type="video/mp4">
241                  </video>
242                </div>
243                <p>Left Camera</p>
244              </div>
245              <div class="video_grid">
246                <div class="video_grid_item"><div class="vsc-controller"></div>
247                  <video id="sample-cam1" class="grid-video training" autoplay muted loop playsinline height="40%">
248                    <source id="sample-cam1-src" src="" type="video/mp4">
249                  </video>
250                </div>
251                <p>Right Camera</p>
252              </div>
253              <div class="video_grid">
254                <div class="video_grid_item"><div class="vsc-controller"></div>
255                  <video id="sample-canonical" class="grid-video training" autoplay muted loop playsinline height="40%">
256                    <source id="sample-canonical-src" src="" type="video/mp4">
257                  </video>
258                </div>
259                <p>Canonical Rendering</p>
260              </div>
261            </div>
262          </div>
263
264          <div class="has-text-centered" style="margin-bottom: 20px;">
265            <button id="resample-btn" class="button is-rounded is-dark" onclick="resampleTrajectory()">
266              <span class="icon">
267                <i class="fas fa-random"></i>
268              </span>
269              <span>Resample Trajectory</span>
270            </button>
271          </div>
272
273        </div> 
274      </div>
275    </div>
276  </div> <!-- rows --> 
277</section>
278
279<section class="section">
280  <div class="container is-max-widescreen">
281    <div class="rows">
282      <div class="rows is-centered">
283        <div class="row is-full-width">
284          <h2 class="title is-3 has-text-centered">Rollout Canonical Visualizations</h2>
285          <div id="canonical" class="container" style="display: block;">
286              <h2 class="subtitle is-5" style="text-align:center;">Given synchronized left and right camera views, we compute a canonical reprojection that is passed to downstream visuomotor policies as a viewpoint-invariant visual representation.</h2>
287              <p><strong>Put Marker In Cup</strong></p>
288              <div class="video_grid_container"> <!-- This is the new container for the flex display -->
289                <div class="video_row">
290                  <div class="video_grid">
291                    <div class="video_grid_item"><div class="vsc-controller"></div>
292                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
293                        <source src="videos/Canonical/marker_left.mp4" type="video/mp4">
294                      </video>
295                    </div>
296                    <p>Left Camera</p>
297                  </div>
298                  <div class="video_grid">
299                    <div class="video_grid_item"><div class="vsc-controller"></div>
300                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
301                        <source src="videos/Canonical/marker_right.mp4" type="video/mp4">
302                      </video>
303                    </div>
304                    <p>Right Camera</p>
305                  </div>
306                  <div class="video_grid">
307                    <div class="video_grid_item"><div class="vsc-controller"></div>
308                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
309                        <source src="videos/Canonical/marker_canonical.mp4" type="video/mp4">
310                      </video>
311                    </div>
312                    <p>Canonical Rendering</p>
313                  </div>
314                </div>
315                <div class="video-divider"></div>
316                
317              </div>
318              <p><strong>Unfold Towel</strong></p>
319              <div class="video_grid_container"> <!-- This is the new container for the flex display -->
320                <div class="video_row">
321                  <div class="video_grid">
322                    <div class="video_grid_item"><div class="vsc-controller"></div>
323                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
324                        <source src="videos/Canonical/towel_left.mp4" type="video/mp4">
325                      </video>
326                    </div>
327                    <p>Left Camera</p>
328                  </div>
329                  <div class="video_grid">
330                    <div class="video_grid_item"><div class="vsc-controller"></div>
331                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
332                        <source src="videos/Canonical/towel_right.mp4" type="video/mp4">
333                      </video>
334                    </div>
335                    <p>Right Camera</p>
336                  </div>
337                  <div class="video_grid">
338                    <div class="video_grid_item"><div class="vsc-controller"></div>
339                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
340                        <source src="videos/Canonical/towel_canonical.mp4" type="video/mp4">
341                      </video>
342                    </div>
343                    <p>Canonical Rendering</p>
344                  </div>
345                </div>
346                <div class="video-divider"></div>
347                
348              </div>
349              <p><strong>Put Brush in Bowl</strong></p>
350              <div class="video_grid_container"> <!-- This is the new container for the flex display -->
351                <div class="video_row">
352                  <div class="video_grid">
353                    <div class="video_grid_item"><div class="vsc-controller"></div>
354                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
355                        <source src="videos/Canonical/brush_left.mp4" type="video/mp4">
356                      </video>
357                    </div>
358                    <p>Left Camera</p>
359                  </div>
360                  <div class="video_grid">
361                    <div class="video_grid_item"><div class="vsc-controller"></div>
362                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
363                        <source src="videos/Canonical/brush_right.mp4" type="video/mp4">
364                      </video>
365                    </div>
366                    <p>Right Camera</p>
367                  </div>
368                  <div class="video_grid">
369                    <div class="video_grid_item"><div class="vsc-controller"></div>
370                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
371                        <source src="videos/Canonical/brush_canonical.mp4" type="video/mp4">
372                      </video>
373                    </div>
374                    <p>Canonical Rendering</p>
375                  </div>
376                </div>
377                <div class="video-divider"></div>
378                
379              </div>
380              <p><strong>Stack Blocks</strong></p>
381              <div class="video_grid_container"> <!-- This is the new container for the flex display -->
382                <div class="video_row">
383                  <div class="video_grid">
384                    <div class="video_grid_item"><div class="vsc-controller"></div>
385                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
386                        <source src="videos/Canonical/stack_blocks_left.mp4" type="video/mp4">
387                      </video>
388                    </div>
389                    <p>Left Camera</p>
390                  </div>
391                  <div class="video_grid">
392                    <div class="video_grid_item"><div class="vsc-controller"></div>
393                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
394                        <source src="videos/Canonical/stack_blocks_right.mp4" type="video/mp4">
395                      </video>
396                    </div>
397                    <p>Right Camera</p>
398                  </div>
399                  <div class="video_grid">
400                    <div class="video_grid_item"><div class="vsc-controller"></div>
401                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
402                        <source src="videos/Canonical/stack_blocks_canonical.mp4" type="video/mp4">
403                      </video>
404                    </div>
405                    <p>Canonical Rendering</p>
406                  </div>
407                </div>
408                
409              </div>
410            </div>
411        </div> 
412      </div>
413    </div>
414  </div> <!-- rows --> 
415</section>
416
417<section class="section">
418  <div class="container is-max-widescreen">
419    <div class="rows">
420      <div class="rows is-centered">
421        <div class="row is-full-width">
422          <h2 class="title is-3 has-text-centered">Qualitative Results</h2>
423
424          <div id="tabBox1">
425            <div class="tabs is-boxed is-centered">
426              <ul>
427                <li id="clickDefault" class="tablinks is-active" onclick="openTab(event, 'diverse', 'tabBox1')"><a>Diverse Viewpoint Training Data</a></li>
428                <li class="tablinks" onclick="openTab(event, 'fixed', 'tabBox1')"><a>Limited viewpoint Training Data</a></li>
429              </ul>
430            </div>
431            <div id="diverse" class="container tabcontent" style="display: block;">
432              <h2 class="subtitle is-5" style="text-align:center;">The following policies were trained on datasets containing substantial variation in camera placement.</h2>
433              <div class="video_grid_container2"> <!-- This is the new container for the flex display -->
434                <p><strong>Put Marker In Cup</strong></p>
435                <div class="video_row2">
436                  <div class="video_grid">
437                    <div class="video_grid_item"><div class="vsc-controller"></div>
438                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
439                        <source src="videos/Div/marker_argus_div.mp4" type="video/mp4">
440                      </video>
441                    </div>
442                    <p>ARGUS + Diffusion Policy</p>
443                  </div>
444                  <div class="video_grid">
445                    <div class="video_grid_item"><div class="vsc-controller"></div>
446                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
447                        <source src="videos/Div/marker_dp_div.mp4" type="video/mp4">
448                      </video>
449                    </div>
450                    <p>Classic Diffusion Policy</p>
451                  </div>
452                  <div class="video_grid">
453                    <div class="video_grid_item"><div class="vsc-controller"></div>
454                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
455                        <source src="videos/Div/marker_kyc_div.mp4" type="video/mp4">
456                      </video>
457                    </div>
458                    <p>KYC + Diffusion Policy</p>
459                  </div>
460                </div>
461                <div class="video-divider"></div>
462                <p><strong>Unfold Towel</strong></p>
463                <div class="video_row2">
464                  <div class="video_grid">
465                    <div class="video_grid_item"><div class="vsc-controller"></div>
466                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
467                        <source src="videos/Div/towel_argus_div.mp4" type="video/mp4">
468                      </video>
469                    </div>
470                    <p>ARGUS + Diffusion Policy</p>
471                  </div>
472                  <div class="video_grid">
473                    <div class="video_grid_item"><div class="vsc-controller"></div>
474                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
475                        <source src="videos/Div/towel_dp_div.mp4" type="video/mp4">
476                      </video>
477                    </div>
478                    <p>Classic Diffusion Policy</p>
479                  </div>
480                  <div class="video_grid">
481                    <div class="video_grid_item"><div class="vsc-controller"></div>
482                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
483                        <source src="videos/Div/towel_kyc_div.mp4" type="video/mp4">
484                      </video>
485                    </div>
486                    <p>KYC + Diffusion Policy</p>
487                  </div>
488                </div>
489                <div class="video-divider"></div>
490                <p><strong>Put Brush In Bowl</strong></p>
491                <div class="video_row2">
492                  <div class="video_grid">
493                    <div class="video_grid_item"><div class="vsc-controller"></div>
494                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
495                        <source src="videos/Div/brush_argus_div.mp4" type="video/mp4">
496                      </video>
497                    </div>
498                    <p>ARGUS + Diffusion Policy</p>
499                  </div>
500                  <div class="video_grid">
501                    <div class="video_grid_item"><div class="vsc-controller"></div>
502                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
503                        <source src="videos/Div/brush_dp_div.mp4" type="video/mp4">
504                      </video>
505                    </div>
506                    <p>Classic Diffusion Policy</p>
507                  </div>
508                  <div class="video_grid">
509                    <div class="video_grid_item"><div class="vsc-controller"></div>
510                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
511                        <source src="videos/Div/brush_kyc_div.mp4" type="video/mp4">
512                      </video>
513                    </div>
514                    <p>KYC + Diffusion Policy</p>
515                  </div>
516                </div>
517                <div class="video-divider"></div>
518                  <p><strong>Stack Blocks</strong></p>
519                <div class="video_row2">
520                  <div class="video_grid">
521                    <div class="video_grid_item"><div class="vsc-controller"></div>
522                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
523                        <source src="videos/Div/stack_blocks_argus_div.mp4" type="video/mp4">
524                      </video>
525                    </div>
526                    <p>ARGUS + Diffusion Policy</p>
527                  </div>
528                  <div class="video_grid">
529                    <div class="video_grid_item"><div class="vsc-controller"></div>
530                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
531                        <source src="videos/Div/stack_blocks_dp_div.mp4" type="video/mp4">
532                      </video>
533                    </div>
534                    <p>Classic Diffusion Policy</p>
535                  </div>
536                  <div class="video_grid">
537                    <div class="video_grid_item"><div class="vsc-controller"></div>
538                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
539                        <source src="videos/Div/stack_blocks_kyc_div.mp4" type="video/mp4">
540                      </video>
541                    </div>
542                    <p>KYC + Diffusion Policy</p>
543                  </div>
544                </div>
545              </div>
546            </div>
547
548
549            <div id="fixed" class="container tabcontent" style="display: none;">
550              
551              <h2 class="subtitle is-5" style="text-align:center;">The following policies were trained on datasets collected from a single fixed multi-view camera configuration.</h2>
552              <div class="video_grid_container2"> <!-- This is the new container for the flex display -->
553                <p><strong>Put Marker In Cup</strong></p>
554                <div class="video_row2">
555                  <div class="video_grid">
556                    <div class="video_grid_item"><div class="vsc-controller"></div>
557                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
558                        <source src="videos/ZS/marker_argus_zs.mp4" type="video/mp4">
559                      </video>
560                    </div>
561                    <p>ARGUS + Diffusion Policy</p>
562                  </div>
563                  <div class="video_grid">
564                    <div class="video_grid_item"><div class="vsc-controller"></div>
565                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" h
565eight="40%">
566                        <source src="videos/ZS/marker_dp_zs.mp4" type="video/mp4">
567                      </video>
568                    </div>
569                    <p>Classic Diffusion Policy</p>
570                  </div>
571                  <div class="video_grid">
572                    <div class="video_grid_item"><div class="vsc-controller"></div>
573                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
574                        <source src="videos/ZS/marker_vista_zs.mp4" type="video/mp4">
575                      </video>
576                    </div>
577                    <p>VISTA + Diffusion Policy</p>
578                  </div>
579                </div>
580                <div class="video-divider"></div>
581                <p><strong>Unfold Towel</strong></p>
582                <div class="video_row2">
583                  <div class="video_grid">
584                    <div class="video_grid_item"><div class="vsc-controller"></div>
585                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
586                        <source src="videos/ZS/towel_argus_zs.mp4" type="video/mp4">
587                      </video>
588                    </div>
589                    <p>ARGUS + Diffusion Policy</p>
590                  </div>
591                  <div class="video_grid">
592                    <div class="video_grid_item"><div class="vsc-controller"></div>
593                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
594                        <source src="videos/ZS/towel_dp_zs.mp4" type="video/mp4">
595                      </video>
596                    </div>
597                    <p>Classic Diffusion Policy</p>
598                  </div>
599                  <div class="video_grid">
600                    <div class="video_grid_item"><div class="vsc-controller"></div>
601                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
602                        <source src="videos/ZS/towel_vista_zs.mp4" type="video/mp4">
603                      </video>
604                    </div>
605                    <p>VISTA + Diffusion Policy</p>
606                  </div>
607                </div>
608                <div class="video-divider"></div>
609                <p><strong>Put Brush In Bowl</strong></p>
610                <div class="video_row2">
611                  <div class="video_grid">
612                    <div class="video_grid_item"><div class="vsc-controller"></div>
613                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
614                        <source src="videos/ZS/brush_argus_zs.mp4" type="video/mp4">
615                      </video>
616                    </div>
617                    <p>ARGUS + Diffusion Policy</p>
618                  </div>
619                  <div class="video_grid">
620                    <div class="video_grid_item"><div class="vsc-controller"></div>
621                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
622                        <source src="videos/ZS/brush_dp_zs.mp4" type="video/mp4">
623                      </video>
624                    </div>
625                    <p>Classic Diffusion Policy</p>
626                  </div>
627                  <div class="video_grid">
628                    <div class="video_grid_item"><div class="vsc-controller"></div>
629                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
630                        <source src="videos/ZS/brush_vista_zs.mp4" type="video/mp4">
631                      </video>
632                    </div>
633                    <p>VISTA + Diffusion Policy</p>
634                  </div>
635                </div>
636                <div class="video-divider"></div>
637                  <p><strong>Stack Blocks</strong></p>
638                <div class="video_row2">
639                  <div class="video_grid">
640                    <div class="video_grid_item"><div class="vsc-controller"></div>
641                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
642                        <source src="videos/ZS/stack_blocks_argus_zs.mp4" type="video/mp4">
643                      </video>
644                    </div>
645                    <p>ARGUS + Diffusion Policy</p>
646                  </div>
647                  <div class="video_grid">
648                    <div class="video_grid_item"><div class="vsc-controller"></div>
649                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
650                        <source src="videos/ZS/stack_blocks_dp_zs.mp4" type="video/mp4">
651                      </video>
652                    </div>
653                    <p>Classic Diffusion Policy</p>
654                  </div>
655                  <div class="video_grid">
656                    <div class="video_grid_item"><div class="vsc-controller"></div>
657                      <video class="grid-video training" autoplay="" muted="" loop="" playsinline="" height="40%">
658                        <source src="videos/ZS/stack_blocks_vista_zs.mp4" type="video/mp4">
659                      </video>
660                    </div>
661                    <p>VISTA + Diffusion Policy</p>
662                  </div>
663                </div>
664              </div>
665
666            </div>
667
668
669          </div>
670        </div> 
671      </div>
672    </div>
673  </div> <!-- rows --> 
674</section>
675
676
677
678<section class="section" id="BibTeX">
679  <div class="container is-max-desktop content">
680    <h2 class="title">BibTeX</h2>
681    <pre><code>@misc{sathua2026argusaligningrobotscene,
682      title={ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models}, 
683      author={Rishik Sathua and Haonan Chen and Katherine Driggs-Campbell},
684      year={2026},
685      eprint={2608.05579},
686      archivePrefix={arXiv},
687      primaryClass={cs.RO},
688      url={https://arxiv.org/abs/2608.05579}, 
689    }</code></pre>
690  </div>
691</section>
692
693<footer class="footer">
694  <div class="container">
695    <div class="columns is-centered">
696      <div class="column">
697        <div class="content has-text-centered">
698          <p>
699            Website template borrowed from <a href="https://github.com/nerfies/nerfies.github.io">NeRFies</a> and <a href="https://haonan16.github.io/stow_page/">Stow</a>. 
700          </p>
701        </div>
702      </div>
703    </div>
704  </div>
705</footer>
706
707</body>
708
709<script>
710  function resampleTrajectory() {
711    const demoIdx = Math.floor(Math.random() * 100); // 0 to 99 inclusive
712    const base = `website_data/put_marker_in_cup/put_marker_in_cup/demo_${demoIdx}`;
713
714    const videoSpecs = [
715      { videoId: 'sample-cam0', srcId: 'sample-cam0-src', file: 'cam_0_rgb.mp4' },
716      { videoId: 'sample-cam1', srcId: 'sample-cam1-src', file: 'cam_1_rgb.mp4' },
717      { videoId: 'sample-canonical', srcId: 'sample-canonical-src', file: 'canonical_rgb.mp4' },
718    ];
719
720    videoSpecs.forEach(({ videoId, srcId, file }) => {
721      const video = document.getElementById(videoId);
722      const source = document.getElementById(srcId);
723      source.src = `${base}/${file}`;
724      video.load();
725      video.play();
726    });
727  }
728
729  // Optionally load an initial random sample on page load
730  document.addEventListener('DOMContentLoaded', resampleTrajectory);
731</script>
731
732</html>

Line numbers count LF bytes from the start of the resource, as the search results do. Vendor segments are library code the classifier recognised; they are stored but not indexed. Bytes are shown as Latin1 characters, one per byte.