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https://yunchuzhang.github.io/ATK/

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7<meta name="description" content="ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning. Learn how ATK improves robustness in visuomotor policy-learning through task-driven keypoint selection.">
8<meta property="og:title" content="ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning"/>
9<meta property="og:description" content="We purpose ATK, a novel method for robust policy learning using task-driven keypoint selection. Explore its applications in sim-to-real transfer and real-world imitation learning."/>
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26  <title>ATK-Policy</title>
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55<style>
56    @supports not (container-type: inline-size) {
57      /* Fallback for older browsers */
58      .videos-row { display: flex; flex-wrap: wrap; }
59      .video-container { flex: 1; min-width: 300px; }
60    }
61</style>
62
63<section class="hero">
64    <!-- Subtle texture overlay -->
65    <div class="texture-overlay"></div>
66
67
68    <!-- Top Text Section -->
69    <div class="hero-body top-row">
70        <div class="container has-text-centered">
71            <h1 class="title publication-title">
72                <span class="atk-gradient">ATK</span>: Automatic Task-driven Keypoint Selection for Robust Policy Learning
73            </h1>
74        
75            <div class="authors-size publication-authors">
76                <div class="author-row">
77                    <span class="author-block"><a href="https://yunchuzhang.github.io/">Yunchu Zhang</a></span>
78                    <span class="author-block"><a href="https://www.linkedin.com/in/shubham-mittal-445284213/">Shubham Mittal</a></span>
79                    <span class="author-block"><a href="https://zoctipus.github.io/">Zhengyu Zhang</a></span>
80                    <span class="author-block"><a href="https://kayke.xyz/">Liyiming Ke</a></span>
81                </div>
82                <div class="author-row">
83                    <span class="author-block"><a href="https://goodrobot.ai/">Siddhartha Srinivasa</a></span>
84                    <span class="author-block"><a href="https://homes.cs.washington.edu/~abhgupta/">Abhishek Gupta</a></span>
85                </div>
86            </div>
87        
88            <div class="is-size-5 publication-authors mt-2">
89                <!-- <span class="author-block">University of Washington<br>CoRL 2025</span> -->
90                <div class="university-name is-size-7-mobile is-size-6-tablet is-size-5-desktop">University of Washington</div>
91                <!-- <div class="conference-name is-size-7-mobile is-size-6-tablet is-size-5-desktop">CoRL 2025</div> -->
92            </div>
93        
94            <div class="publication-links mt-4">
95                <span class="link-block">
96                    <a href="https://arxiv.org/pdf/2506.13867" target="_blank"
97                       class="external-link">
98                        <span class="icon"><i class="fas fa-file-pdf"></i></span>
99                        <span>Paper</span>
100                    </a>
101                </span>
102                <span class="link-block">
103                    <a href="https://github.com/YOUR REPO HERE" target="_blank"
104                       class="external-link">
105                        <span class="icon"><i class="fab fa-github"></i></span>
106                        <span>Code (coming soon)</span>
107                    </a>
108                </span>
109            </div>
110        </div>
111    </div>
112    
113    <!-- Bottom Video Section -->
114    <div class="bottom-row">
115        <div class="video-wrapper">
116            <video  loading="lazy" preload="none" muted loop playsinline>
117                <source src="static/videos/teaser.mp4" type="video/mp4">
118                Your browser does not support the video tag.
119            </video>
120        </div>
121    </div>
122</section>
123
124<div class="all-content">
125<div class="scale-wrapper">
126<!-- Paper abstract -->
127    <section class="section is-light">
128        <div class="container is-max-desktop">
129        <div class="columns is-centered has-text-centered">
130            <div class=" is-four-fifths">
131            <h2 class="title-title">Motivation</h2>
132            <div class="content has-text-justified">
133                <p>
134
135                    Visuomotor policies often suffer from perceptual challenges, where visual differences between training and evaluation environments degrade policy performance. Policies relying on state estimations, like 6D pose, require task-specific tracking and are difficult to scale, while raw sensor-based policies may lack robustness to small visual disturbances. In this work, we leverage 2D keypoints — spatially consistent features in the image frame — as a flexible state representation for robust policy learning and apply it to both sim-to-real transfer and real-world imitation learning. However, the choice of which keypoints to use can vary across objects and tasks. We propose a novel method, <strong>ATK</strong>, to automatically select keypoints in a task-driven manner so that the chosen keypoints are predictive of optimal behavior for the given task. Our proposal optimizes for a minimal set of keypoints that focus on task-relevant parts while preserving policy performance and robustness. We distill expert data (either from an expert policy in simulation or a human expert) into a policy that operates on RGB images while tracking the selected keypoints. By leveraging pre-trained visual modules, our system effectively encodes states and transfers policies to the real-world evaluation scenario despite wide scene variations and perceptual challenges such as transparent objects, fine-grained tasks, and deformable objects manipulation.
136                  </p>
137                  
138                    
139            </div>
140            </div>
141        </div>
142    </div>
143  </section>
144  <!-- End paper abstract -->
145   
146<section class="teaser">
147    <div class="container is-max-desktop">
148        <div class="hero-body-method">
149            <video poster="static/images/method_placeholder.png" id="tree" controls preload="metadata" class="manual-control" muted height="100%">
150                <source src="static/videos/method.mp4" type="video/mp4">
151            </video>
152            <div class="method-play-button" id="method-play-btn">
153                <svg viewBox="0 0 24 24">
154                    <path d="M8 5v14l11-7z"/>
155                </svg>
156            </div>
157        </div>
158    </div>
159</section>
160
161<section class="section is-light global-header">
162    <div class="container">
163        <h2 class="title-title has-text-centered" style="color: rgb(0, 0, 0);">Our Method</h2>
164        <!-- Results Section -->
165<section class="section is-light result-container result-section">
166    <div class="container">
167        <div class="results">
168            <div class="result is-centered">
169                <!-- Left Image -->
170                <div class="">
171                    <img src="static/images/method.jpg" alt="Method" style="width: 100%; height: auto;">
172                </div>
173            </div>
174            <figcaption>
175        
176            <p> <strong>ATK automatically selects minimal yet necessary information for task execution</strong> by distilling
177                expert data (either from an expert policy in simulation or a human expert) into a policy that operates on a
178                selective subset of keypoints and optimizing the selection mask. Once the keypoints are identified, they are
179                transferred from the training set to the real-world evaluation scenario. Finally, the keypoint-based policy is
180                transferred to the evaluation scenario, taking as input RGB images while tracking the transferred keypoints</p>
181            </figcaption>
182        </div>   
183    </div> 
184</section>
185        
186</section>
187<!-- Experiments -->
188<!-- Immitation Learning -->
189    
190<!-- Global Header -->
191<section class="section is-light global-header">
192    <div class="container">
193        <h2 class="title-title has-text-centered" style="color: rgb(0, 0, 0);">Experiments</h2>
194
195        <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">1. Immitation Learning Robustness</h2>
196        <p class="subtitle explain has-text-centered" >ATK shows robustness to random background, distractors and light</p>
197        
198</section>
199<section class="columns-tasks section is-dark category-section" >
200<div class="sticky-container">
201        <div class="sticky-header">
202            <div class="button-row">
203                <button class="button  task-button is-active" data-task="towel-folding">Towel Folding</button>
204                <button class="button  task-button" data-task="hanging-blanket">Hanging Blanket</button>
205                <button class="button  task-button" data-task="grape-oven">Grape-Oven</button>
206                <button class="button  task-button" data-task="pan-filling">Pan Filling</button>
207            </div>
208            <!-- <div class="tabs is-centered is-boxed sticky-toggle-bar">
209                <ul>
210                    <li data-view="side-views" class="is-active">
211                        <a>Global View</a>
212                    </li>
213                    <li data-view="robot">
214                        <a>Robot Camera View</a>
215                    </li>
216                </ul>
217            </div> -->
218        </div>
219    <!-- </div> -->
220    <div class="container video-gallery-wrapper" id="towel-folding">        
221        <!--------------------------------------------- Towel Folding ------------------------------------------------------->
222
223        <!-- Video Gallery Section -->
224        <section class="section is-light video-gallery" >
225
226                <!-- Task Description -->
227            <!-- <h4 class="is-5 task-title";>
228                                <strong>Towel Folding</strong>
229                            </h4> -->
230
231            <!-- Combined Video Demonstration -->
232            <div id="task-teaser">
233                <!-- <div class="video-container"> -->
234                    <!-- <video  loading="lazy" preload="none"  muted loop playsinline >
235                        <source src="static/videos/kp_filtering/towel_combined.mp4" type="video/mp4">
236                        Your browser does not support the video tag.
237                    </video> -->
238                <!-- </div> -->
239                <div class="teaser-row">
240                    <!-- Left Video -->
241                    <div class="video-container">
242                        <h4 class="text-teaser";>
243                            Automatic Task-driven Keypoints Filtering​ </h4>
244                        <video  loading="lazy" preload="none"  muted loop playsinline >
245                            <source src="static/videos/teaser/towel_filtering.mp4" type="video/mp4">
246                            Your browser does not support the video tag.
247                        </video>
248                    </div>
249                
250                    <!-- Center Image -->
251                    <div class="video-container">
252                        <h4 class="text-teaser";>
253                            Keypoints Transfer during Inference​​ </h4>
254                        <div class="image-grid">
255                            <div class="image-container">
256                                <img src="static/images/towel_2.png" alt="Image 1" class="teaser-image">
257                            </div>
258                            <div class="image-container">
259                                <img src="static/images/towel_3.png" alt="Image 2" class="teaser-image">
260                            </div>
261                            <div class="image-container">
262                                <img src="static/images/towel_4.png" alt="Image 3" class="teaser-image">
263                            </div>
264                            <div class="image-container">
265                                <img src="static/images/towel_5.png" alt="Image 4" class="teaser-image">
266                            </div>
267                        </div>
268                    </div>
269                
270                    <!-- Right Video -->
271                    <div>
272                    <h4 class="text-teaser";>
273                        Keypoints Tracking during Rollout​ </h4>
274                    <div class="video-container">
275                        <div class="vid-tex-overlay">
276                            <video  loading="lazy" preload="none"  muted loop playsinline >
277                                <source src="static/videos/teaser/towel_tracking.mp4" type="video/mp4">
278                                Your browser does not support the video tag.
279                            </video>
280                            <img src="static/images/8x_black.svg" class="eight-teaser" >
281                        </div>
282                    </div>
283                    </div>
284                </div>
285            </div>
286            
287            
288            <div class="container four-condn-container">
289
290                <!-- Video Content Container -->
291                <div class="video-content">
292                    <!-- Side Views (DJI & Moving) -->
293                    <div class="view-content" id="side-views">
294                        <div class="side-views-container">
295                        <!-- DJI Camera View  | Moving View-->
296                        <div id="dji-view-towel-folding">
297                            <!-- Task 1 -->
298                            <div class="task-section">
299                                <!-- Row 1 -->
300
301
302                                <!-- Task 1: Towel Folding -->
303                                <section class="section task-section">
304                                    <div class="condition-section">
305                                        <div class="video-selector-wrapper"> 
306                                            <div class="video-selector-container">
307                                              <div class="select mb-2">
308                                                <select class="video-selector" data-condition="random-position" data-view="dji">
309                                                  <option value="1">Rollout 1</option>
310                                                  <option value="2">Rollout 2</option>
311                                                  <option value="3">Rollout 3</option>
312                                                  <option value="4">Rollout 4</option>
313                                                  
314                                                </select>
315                                            
316                                                
317                                              </div>
318                                              
319                                            </div>
320                                            <div class="video-selector-condn">
321                                            <h5 class="subtitle is-5">Random Position</h5>
322                                            </div>
323
324                                        </div>
325                                          
326                                        <div class="videos-row">
327                                            <!-- First Row: Two Videos -->
328                                            <div class="video-container">
329                                                <div class="text-atk">
330                                                    <p>ATK (static view)</p>
331                                                </div>
332                                                <div class="vid-tex-overlay">
333                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
334                                                        <source src="static/videos/dji/towel/rp1.mp4" type="video/mp4">
335                                                        Your browser does not support the video tag.
336                                                    </video>
337                                                    <img src="static/images/6x_black.svg" class="six" >
338                                                </div>
339                                                
340                                            </div>
341                                            <div class="video-container">
342                                                <div class="text-atk">
343                                                    <p>ATK (moving view)</p>
344                                                </div>
345                                                <div class="vid-tex-overlay">
346                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
347                                                        <source src="static/videos/iphone/towel/rp1.mp4" type="video/mp4">
348                                                        Your browser does not support the video tag.
349                                                    </video>
350                                                    <img src="static/images/6x_black.svg" class="six" >
351                                                </div>
352                                            </div>
353                                        </div>
354                                        
355                                        
356                                        <div class="videos-row-baselines">
357                                            <!-- Second Row: Three Videos -->
358                                            <div class="video-container success">
359                                                <div class="text-baseline">
360                                                    <p>R3M</p>
361                                                </div>
362                                                <div class="vid-tex-overlay">
363                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
364                                                        <source src="static/videos/baselines/towel/r3m/org.mp4" type="video/mp4">
365                                                        Your browser does not support the video tag.
366                                                    </video>
367                                                    <img src="static/images/tick.svg" class="tick-mark" >
368                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
369                                                </div>
370                                                
371                                            </div>
372                                            
373                                            <div class="video-container">
374                                                <div class="text-baseline">
375                                                    <p>Depth</p>
376                                                </div>
377                                                <div class="vid-tex-overlay">
378                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
379                                                        <source src="static/videos/baselines/towel/depth/org.mp4" type="video/mp4">
380                                                        Your browser does not support the video tag.
381                                                    </video>
382                                                    <img src="static/images/cross.svg" class="tick-mark" >
383                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
384                                                </div>
385                                                
386                                            </div>
387                                            <div class="video-container">
388                                                <div class="text-baseline">
389                                                    <p>Point Cloud</p>
390                                                </div>
391                                                <div class="vid-tex-overlay">
392                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
393                                                        <source src="static/videos/baselines/towel/pointcloud/org.mp4" type="video/mp4">
394                                                        Your browser does not support the video tag.
395                                                    </video>
396                                                    <img src="static/images/cross.svg" class="tick-mark" >
397                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
398                                                </div>
399                                                
400                                            </div>
401                                        </div>
402                                    </div>
403                                    <div class="condition-section">
404                                        <div class="video-selector-wrapper"> 
405                                            <div class="video-selector-container">
406                                              <div class="select mb-2">
407                                                <select class="video-selector" data-condition="random-distractors" data-view="dji">
408                                                  <option value="1">Rollout 1</option>
409                                                  <option value="2">Rollout 2</option>
410                                                  <option value="3">Rollout 3</option>
411                                                  <option value="4">Rollout 4</option>
412                                                </select>
413                                              </div>
414                                              
415                                            </div>
416                                            <div class="video-selector-condn">
417                                            <h5 class="subtitle is-5">Random Distractors</h5>
418                                            </div>
419
420                                        </div>
421                                          
422                                        <div class="videos-row">
423                                            <!-- First Row: Two Videos -->
424                                            <div class="video-container">
425                                                <div class="text-atk">
426                                                    <p>ATK (static view)</p>
427                                                </div>
428                                                <div class="vid-tex-overlay">
429                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
430                                                    <source src="static/videos/dji/towel/rd1.mp4" type="video/mp4">
431                                                    Your browser does not support the video tag.
432                                                </video>
433                                                <img src="static/images/6x_black.svg" class="six" >
434             
434                                   </div>
435                                                
436                                            </div>
437                                            <div class="video-container">
438                                                <div class="text-atk">
439                                                    <p>ATK (moving view)</p>
440                                                </div>
441                                                <div class="vid-tex-overlay">
442                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
443                                                        <source src="static/videos/iphone/towel/rd1.mp4" type="video/mp4">
444                                                        Your browser does not support the video tag.
445                                                    </video>
446                                                    <img src="static/images/6x_black.svg" class="six" >
447                                                </div>
448                                            </div>
449                                        </div>
450                                        
451                                        
452                                        <div class="videos-row-baselines">
453                                            <!-- Second Row: Three Videos -->
454                                            <div class="video-container success">
455                                                <div class="text-baseline">
456                                                    <p>R3M</p>
457                                                </div>
458                                                <div class="vid-tex-overlay">
459                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
460                                                        <source src="static/videos/baselines/towel/r3m/dist.mp4" type="video/mp4">
461                                                        Your browser does not support the video tag.
462                                                    </video>
463                                                    <img src="static/images/cross.svg" class="tick-mark" >
464                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
465                                                    
466                                                </div>
467                                                
468                                            </div>
469                                            
470                                            <div class="video-container">
471                                                <div class="text-baseline">
472                                                    <p>Depth</p>
473                                                </div>
474                                                <div class="vid-tex-overlay">
475                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
476                                                        <source src="static/videos/baselines/towel/depth/dist.mp4" type="video/mp4">
477                                                        Your browser does not support the video tag.
478                                                    </video>
479                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
480                                                    <img src="static/images/cross.svg" class="tick-mark" >
481                                                </div>
482                                                
483                                            </div>
484                                            <div class="video-container">
485                                                <div class="text-baseline">
486                                                    <p>Point Cloud</p>
487                                                </div>
488                                                <div class="vid-tex-overlay">
489                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
490                                                        <source src="static/videos/baselines/towel/pointcloud/dist.mp4" type="video/mp4">
491                                                        Your browser does not support the video tag.
492                                                    </video>
493                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
494                                                    <img src="static/images/cross.svg" class="tick-mark" >
495                                                </div>
496                                                
497                                            </div>
498                                        </div>
499                                    </div>
500                                    <div class="condition-section">
501                                        <div class="video-selector-wrapper"> 
502                                            <div class="video-selector-container">
503                                              <div class="select mb-2">
504                                                <select class="video-selector" data-condition="random-backgrounds" data-view="dji">
505                                                  <option value="1">Rollout 1</option>
506                                                  <option value="2">Rollout 2</option>
507                                                  <option value="3">Rollout 3</option>
508                                                  <option value="4">Rollout 4</option>
509                                                </select>
510                                              </div>
511                                              
512                                            </div>
513                                            <div class="video-selector-condn">
514                                            <h5 class="subtitle is-5">
514Random Backgrounds</h5>
515                                            </div>
516
517                                        </div>
518                                          
519                                        <div class="videos-row">
520                                            <!-- First Row: Two Videos -->
521                                            <div class="video-container">
522                                                <div class="text-atk">
523                                                    <p>ATK (static view)</p>
524                                                </div>
525                                                <div class="vid-tex-overlay">
526                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
527                                                    <source src="static/videos/dji/towel/rb1.mp4" type="video/mp4">
528                                                    Your browser does not support the video tag.
529                                                </video>
530                                                <img src="static/images/6x_black.svg" class="six" >
531                                                </div>
532                                                
533                                            </div>
534                                            <div class="video-container">
535                                                <div class="text-atk">
536                                                    <p>ATK (moving view)</p>
537                                                </div>
538                                                <div class="vid-tex-overlay">
539                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
540                                                        <source src="static/videos/iphone/towel/rb1.mp4" type="video/mp4">
541                                                        Your browser does not support the video tag.
542                                                    </video>
543                                                    <img src="static/images/6x_black.svg" class="six" >
544                                                </div>
545                                            </div>
546                                        </div>
547                                        
548                                        
549                                        <div class="videos-row-baselines">
550                                            <!-- Second Row: Three Videos -->
551                                            <div class="video-container success">
552                                                <div class="text-baseline">
553                                                    <p>R3M</p>
554                                                </div>
555                                                <div class="vid-tex-overlay">
556                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
557                                                        <source src="static/videos/baselines/towel/r3m/bck.mp4" type="video/mp4">
558                                                        Your browser does not support the video tag.
559                                                    </video>
560                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
561                                                    <img src="static/images/cross.svg" class="tick-mark" >
562                                                </div>
563                                                
564                                            </div>
565                                            
566                                            <div class="video-container">
567                                                <div class="text-baseline">
568                                                    <p>Depth</p>
569                                                </div>
570                                                <div class="vid-tex-overlay">
571                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
572                                                        <source src="static/videos/baselines/towel/depth/bck.mp4" type="video/mp4">
573                                                        Your browser does not support the video tag.
574                                                    </video>
575                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
576                                                    <img src="static/images/cross.svg" class="tick-mark" >
577                                                </div>
578                                                
579                                            </div>
580                                            <div class="video-container">
581                                                <div class="text-baseline">
582                                                    <p>Point Cloud</p>
583                                                </div>
584                                                <div class="vid-tex-overlay">
585                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
586                                                        <source src="static/videos/baselines/towel/pointcloud/bck.mp4" type="video/mp4">
587                                                        Your browser does not support the video tag.
588                                                    </video>
589                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
590                                                    <img src="static/images/cross.svg" class="tick-mark" >
591                                                </div>
592                                                
593                                            </div>
594                                        </div>
595                                    </div>
596
597                                    <div class="condition-section">
598                                        <div class="video-selector-wrapper"> 
599                                            <div class="video-selector-container">
600                                              <div class="select mb-2">
601                                                <select class="video-selector" data-condition="random-lights" data-view="dji">
602                                                  <option value="1">Rollout 1</option>
603                                                  <option value="2">Rollout 2</option>
604                                                </select>
605                                              </div>
606                                              
607                                            </div>
608                                            <div class="video-selector-condn">
609                                            <h5 class="subtitle is-5">Random Lights</h5>
610                                            </div>
611
612                                        </div>
613                                          
614                                        <div class="videos-row">
615                                            <!-- First Row: Two Videos -->
616                                            <div class="video-container">
617                                                <div class="text-atk">
618                                                    <p>ATK (static view)</p>
619                                                </div>
620                                                <div class="vid-tex-overlay">
621                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
622                                                    <source src="static/videos/dji/towel/disco.mp4" type="video/mp4">
623                                                    Your browser does not support the video tag.
624                                                </video>
625                                                <img src="static/images/6x_black.svg" class="six" >
626                                                </div>
627                                                
628                                            </div>
629                                            <div class="video-container">
630                                                <div class="text-atk">
631                                                    <p>ATK (moving view)</p>
632                                                </div>
633                                                <div class="vid-tex-overlay">
634                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
635                                                        <source src="static/videos/iphone/towel/disco.mp4" type="video/mp4">
636                                                        Your browser does not support the video tag.
637                                                    </video>
638                                                    <img src="static/images/6x_black.svg" class="six" >
639                                                </div>
640                                            </div>
641                                        </div>
642                                        
643                                        
644                                        <div class="videos-row-baselines">
645                                            <!-- Second Row: Three Videos -->
646                                            <div class="video-container success">
647                                                <div class="text-baseline">
648                                                    <p>R3M</p>
649                                                </div>
650                                                <div class="vid-tex-overlay">
651                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
652                                                        <source src="static/videos/baselines/towel/r3m/disco.mp4" type="video/mp4">
653                                                        Your browser does not support the video tag.
654                                                    </video>
655                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
656                                                    <img src="static/images/cross.svg" class="tick-mark" >
657                                                </div>
658                                                
659                                            </div>
660                                            
661                                            <div class="video-container">
662                                                <div class="text-baseline">
663                                                    <p>Depth</p>
664                                                </div>
665                                                <div class="vid-tex-overlay">
666                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
667                                                        <source src="static/videos/baselines/towel/depth/disco.mp4" type="video/mp4">
668                                                        Your browser does not support the video tag.
669                                                    </video>
670                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
671                                                    <img src="static/images/cross.svg" class="tick-mark" >
672                                                </div>
673                                                
674                                            </div>
675                                            <div class="video-container">
676                                                <div class="text-baseline">
677                                                    <p>Point Cloud</p>
678                                                </div>
679                                                <div class="vid-tex-overlay">
680                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
681                                                        <source src="static/videos/baselines/towel/pointcloud/disco.mp4" type="video/mp4">
682                                                        Your browser does not support the video tag.
683                                                    </video>
684                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
685                                                    <img src="static/images/cross.svg" class="tick-mark" >
686                                                </div>   
687                                            </div>
688                                        </div>
689                                    </div>
690                                </section>
691                            </div>  
692                        </div>
693                    </div>
694                </div>
695            </div>
696        </section>
697    </div>
698
699    <div class="container video-gallery-wrapper is-hidden" id="hanging-blanket">        
700        <!--------------------------------------------- Hanging Blanket ------------------------------------------------------->
701
702        <!-- Video Gallery Section -->
703        <section class="section is-light video-gallery" >
704
705                <!-- Task Description -->
706            <!-- <h4 class="is-5 task-title";>
707                                <strong>Towel Folding</strong>
708                            </h4> -->
709
710            <!-- Combined Video Demonstration -->
711            <div id="task-teaser">
712                <!-- <div class="video-container"> -->
713                    <!-- <video  loading="lazy" preload="none"  muted loop playsinline >
714                        <source src="static/videos/kp_filtering/towel_c
714ombined.mp4" type="video/mp4">
715                        Your browser does not support the video tag.
716                    </video> -->
717                <!-- </div> -->
718                <div class="teaser-row">
719                    <!-- Left Video -->
720                    <div class="video-container">
721                        <h4 class="text-teaser";>
722                            Automatic Task-driven Keypoints Filtering​ </h4>
723                        <video  loading="lazy" preload="none"  muted loop playsinline >
724                            <source src="static/videos/teaser/hanging_filtering.mp4" type="video/mp4">
725                            Your browser does not support the video tag.
726                        </video>
727                    </div>
728                
729                    <!-- Center Image -->
730                    <div class="video-container">
731                        <h4 class="text-teaser";>
732                            Keypoints Transfer during Inference​​ </h4>
733                            <div class="image-grid">
734                                <div class="image-container">
735                                    <img src="static/images/hanging_2.png" alt="Image 1" class="teaser-image">
736                                </div>
737                                <div class="image-container">
738                                    <img src="static/images/hanging_3.png" alt="Image 2" class="teaser-image">
739                                </div>
740                                <div class="image-container">
741                                    <img src="static/images/hanging_4.png" alt="Image 3" class="teaser-image">
742                                </div>
743                                <div class="image-container">
744                                    <img src="static/images/hanging_5.png" alt="Image 4" class="teaser-image">
745                                </div>
746                            </div>
747                    </div>
748                
749                    <!-- Right Video -->
750                    <div>
751                    <h4 class="text-teaser";>
752                        Keypoints Tracking during Rollout​ </h4>
753                    <div class="video-container">
754                        <div class="vid-tex-overlay">
755                            <video  loading="lazy" preload="none"  muted loop playsinline >
756                                <source src="static/videos/teaser/hanging_tracking.mp4" type="video/mp4">
757                                Your browser does not support the video tag.
758                            </video>
759                            <img src="static/images/8x_black.svg" class="eight-teaser" >
760                        </div>
761                    </div>
762                    </div>
763                </div>
764            </div>
765            
766            
767            <div class="container four-condn-container">
768
769                <!-- Video Content Container -->
770                <div class="video-content">
771                    <!-- Side Views (DJI & Moving) -->
772                    <div class="view-content" id="side-views">
773                        <div class="side-views-container">
774                        <!-- DJI Camera View  | Moving View-->
775                        <div id="dji-view-hanging-blanket">
776                            <!-- Task 1 -->
777                            <div class="task-section">
778                                <!-- Row 1 -->
779
780
781                               
782                                <section class="section task-section">
783                                    <div class="condition-section">
784                                        <div class="video-selector-wrapper"> 
785                                            <div class="video-selector-container">
786                                              <div class="select mb-2">
787                                                <select class="video-selector" data-condition="random-position" data-view="dji">
788                                                  <option value="1">Rollout 1</option>
789                                                  <option value="2">Rollout 2</option>
790                                                  <option value="3">Rollout 3</option>
791                                                  <option value="4">Rollout 4</option>
792                                                  
793                                                </select>
794                                            
795                                                
796                                              </div>
797                                              
798                                            </div>
799                                            <div class="video-selector-condn">
800                                            <h5 class="subtitle is-5">Random Position</h5>
801                                            </div>
802
803                                        </div>
804                                          
805                                        <div class="videos-row">
806                                            <!-- First Row: Two Videos -->
807                                            <div class="video-container">
808                                                <div class="text-atk">
809                                                    <p>ATK (static view)</p>
810                                                </div>
811                                                <div class="vid-tex-overlay">
812                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
813                                                    <source src="static/videos/dji/hanging/rp1.mp4" type="video/mp4">
814                                                    Your browser does not support the video tag.
815                                                </video>
816                                                <img src="static/images/6x_black.svg" class="six" >
817                                                </div>
818                                                
819                                            </div>
820                                            <div class="video-container">
821                                                <div class="text-atk">
822                                                    <p>ATK (moving view)</p>
823                                                </div>
824                                                <div class="vid-tex-overlay">
825                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
826                                                        <source src="static/videos/iphone/hanging/rp1.mp4" type="video/mp4">
827                                                        Your browser does not support the video tag.
828                                                    </video>
829                                                    <img src="static/images/6x_black.svg" class="six" >
830                                                </div>
831                                            </div>
832                                        </div>
833                                        
834                                        
835                                        <div class="videos-row-baselines">
836                                            <!-- Second Row: Three Videos -->
837                                            <div class="video-container success">
838                                                <div class="text-baseline">
839                                                    <p>R3M</p>
840                                                </div>
841                                                <div class="vid-tex-overlay">
842                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
843                                                        <source src="static/videos/baselines/hanging/r3m/org.mp4" type="video/mp4">
844                                                        Your browser does not support the video tag.
845                                                    </video>
846                                                    <img src="static/images/tick.svg" class="tick-mark" >
847                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
848                                                </div>
849                                                
850                                            </div>
851                                            
852                                            <div class="video-container">
853                                                <div class="text-baseline">
854                                                    <p>Depth</p>
855                                                </div>
856                                                <div class="vid-tex-overlay">
857                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
858                                                        <source src="static/videos/baselines/hanging/depth/org.mp4" type="video/mp4">
859                                                        Your browser does not support the video tag.
860                                                    </video>
861                                                    <img src="static/images/cross.svg" class="tick-mark" >
862                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
863                                                </div>
864                                                
865                                            </div>
866                                            <div class="video-container">
867                                                <div class="text-baseline">
868                                                    <p>Point Cloud</p>
869                                                </div>
870                                                <div class="vid-tex-overlay">
871                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
872                                                        <source src="static/videos/baselines/hanging/pointcloud/org.mp4" type="video/mp4">
873                                                        Your browser does not support the video tag.
874                                                    </video>
875                                                    <img src="static/images/cross.svg" class="tick-mark" >
876                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
877                                                </div>
878                                                
879                                            </div>
880                                        </div>
881                                    </div>
882                                    <div class="condition-section">
883                                        <div class="video-selector-wrapper"> 
884                                            <div class="video-selector-container">
885                                              <div class="select mb-2">
886                                                <select class="video-selector" data-condition="random-distractors" data-view="dji">
887                                                  <option value="1">Rollout 1</option>
888                                                  <option value="2">Rollout 2</option>
889                                                  <option value="3">Rollout 3</option>
890                                                  <option value="4">Rollout 4</option>
891                                                </select>
892                                              </div>
893                                              
894                                            </div>
895                                            <div class="video-selector-condn">
896                                            <h5 class="subtitle is-5">Random Distractors</h5>
897                                            </div>
898
899                                        </div>
900                                          
901                                        <div class="videos-row">
902                                            <!-- First Row: Two Videos -->
903                                            <div class="video-container">
904                                                <div class="text-atk">
905                                                    <p>ATK (static view)</p>
906                                                </div>
907                                                <div class="vid-tex-overlay">
908                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
909                                                    <source src="static/videos/dji/hanging/rd1.mp4" type="video/mp4">
910                                                    Your browser does not support the video tag.
911                                                </video>
912                                                <img src="static/images/6x_black.svg" class="six" >
913                                                </div>
914                                                
915                                            </div>
916                                            <div class="video-container">
917                                                <div class="text-atk">
918                                                    <p>ATK (moving view)</p>
919                                                </div>
920                                                <div class="vid-tex-overlay">
921                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
922                                                        <source src="static/videos/iphone/hanging/rd1.mp4" type="video/mp4">
923                                                        Your browser does not support the video tag.
924                                                    </video>
925                                                    <img src="static/images/6x_black.svg" class="six" >
926                                                </div>
927                                            </div>
928                                        </div>
929                                        
930                                        
931                                        <div class="videos-row-baselines">
932                                            <!-- Second Row: Three Videos -->
933                                            <div class="video-container success">
934                                                <div class="text-baseline">
935                                                    <p>R3M</p>
936                                                </div>
937                                                <div class="vid-tex-overlay">
938                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
939                                                        <source src="static/videos/baselines/hanging/r3m/dist.mp4" type="video/mp4">
940                                                        Your browser does not support the video tag.
941                                                    </video>
942                                                    <img src="static/images/cross.svg" class="tick-mark" >
943                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
944                                                    
945                                                </div>
946                                                
947                                            </div>
948                                            
949                                            <div class="video-container">
950                                                <div class="text-baseline">
951                                                    <p>Depth</p>
952                                                </div>
953                                                <div class="vid-tex-overlay">
954                   
954                                 <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
955                                                        <source src="static/videos/baselines/hanging/depth/dist.mp4" type="video/mp4">
956                                                        Your browser does not support the video tag.
957                                                    </video>
958                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
959                                                    <img src="static/images/cross.svg" class="tick-mark" >
960                                                </div>
961                                                
962                                            </div>
963                                            <div class="video-container">
964                                                <div class="text-baseline">
965                                                    <p>Point Cloud</p>
966                                                </div>
967                                                <div class="vid-tex-overlay">
968                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
969                                                        <source src="static/videos/baselines/hanging/pointcloud/dist.mp4" type="video/mp4">
970                                                        Your browser does not support the video tag.
971                                                    </video>
972                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
973                                                    <img src="static/images/cross.svg" class="tick-mark" >
974                                                </div>
975                                                
976                                            </div>
977                                        </div>
978                                    </div>
979                                    <div class="condition-section">
980                                        <div class="video-selector-wrapper"> 
981                                            <div class="video-selector-container">
982                                              <div class="select mb-2">
983                                                <select class="video-selector" data-condition="random-backgrounds" data-view="dji">
984                                                  <option value="1">Rollout 1</option>
985                                                  <option value="2">Rollout 2</option>
986                                                  <option value="3">Rollout 3</option>
987                                                  <option value="4">Rollout 4</option>
988                                                </select>
989                                              </div>
990                                              
991                                            </div>
992                                            <div class="video-selector-condn">
993                                            <h5 class="subtitle is-5">Random Backgrounds</h5>
994                                            </div>
995
996                                        </div>
997                                          
998                                        <div class="videos-row">
999                                            <!-- First Row: Two Videos -->
1000                                            <div class="video-container">
1001                                                <div class="text-atk">
1002                                                    <p>ATK (static view)</p>
1003                                                </div>
1004                                                <div class="vid-tex-overlay">
1005                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1006                                                    <source src="static/videos/dji/hanging/rb1.mp4" type="video/mp4">
1007                                                    Your browser does not support the video tag.
1008                                                </video>
1009                                                <img src="static/images/6x_black.svg" class="six" >
1010                                                </div>
1011                                                
1012                                            </div>
1013                                            <div class="video-container">
1014                                                <div class="text-atk">
1015                                                    <p>ATK (moving view)</p>
1016                                                </div>
1017                                                <div class="vid-tex-overlay">
1018                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1019                                                        <source src="static/videos/iphone/hanging/rb1.mp4" type="video/mp4">
1020                                                        Your browser does not support the video tag.
1021                                                    </video>
1022                                                    <img src="static/images/6x_black.svg" class="six" >
1023                                                </div>
1024                                            </div>
1025                                        </div>
1026                                        
1027                                        
1028                                        <div class="videos-row-baselines">
1029                                            <!-- Second Row: Three Videos -->
1030                                            <div class="video-container success">
1031                                                <div class="text-baseline">
1032                                                    <p>R3M</p>
1033                                                </div>
1034                                                <div class="vid-tex-overlay">
1035                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1036                                                        <source src="static/videos/baselines/hanging/r3m/bck.mp4" type="video/mp4">
1037                                                        Your browser does not support the video tag.
1038                                                    </video>
1039                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1040                                                    <img src="static/images/cross.svg" class="tick-mark" >
1041                                                </div>
1042                                                
1043                                            </div>
1044                                            
1045                                            <div class="video-container">
1046                                                <div class="text-baseline">
1047                                                    <p>Depth</p>
1048                                                </div>
1049                                                <div class="vid-tex-overlay">
1050                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1051                                                        <source src="static/videos/baselines/hanging/depth/bck.mp4" type="video/mp4">
1052                                                        Your browser does not support the video tag.
1053                                                    </video>
1054                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1055                                                    <img src="static/images/cross.svg" class="tick-mark" >
1056                                                </div>
1057                                                
1058                                            </div>
1059                                            <div class="video-container">
1060                                                <div class="text-baseline">
1061                                                    <p>Point Cloud</p>
1062                                                </div>
1063                                                <div class="vid-tex-overlay">
1064                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1065                                                        <source src="static/videos/baselines/hanging/pointcloud/bck.mp4" type="video/mp4">
1066                                                        Your browser does not support the video tag.
1067                                                    </video>
1068                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1069                                                    <img src="static/images/cross.svg" class="tick-mark" >
1070                                                </div>
1071                                                
1072                                            </div>
1073                                        </div>
1074                                    </div>
1075
1076                                    <div class="condition-section">
1077                                        <div class="video-selector-wrapper"> 
1078                                            <div class="video-selector-container">
1079                                              <div class="select mb-2">
1080                                                <select class="video-selector" data-condition="random-lights" data-view="dji">
1081                                                  <option value="1">Rollout 1</option>
1082                                                  <option value="2">Rollout 2</option>
1083                                                </select>
1084                                              </div>
1085                                              
1086                                            </div>
1087                                            <div class="video-selector-condn">
1088                                            <h5 class="subtitle is-5">Random Lights</h5>
1089                                            </div>
1090
1091                                        </div>
1092                                          
1093                                        <div class="videos-row">
1094                                            <!-- First Row: Two Videos -->
1095                                            <div class="video-container">
1096                                                <div class="text-atk">
1097                                                    <p>ATK (static view)</p>
1098                                                </div>
1099                                                <div class="vid-tex-overlay">
1100                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1101                                                    <source src="static/videos/dji/hanging/disco.mp4" type="video/mp4">
1102                                                    Your browser does not support the video tag.
1103                                                </video>
1104                                                <img src="static/images/6x_black.svg" class="six" >
1105                                                </div>
1106                                                
1107                                            </div>
1108                                            <div class="video-container">
1109                                                <div class="text-atk">
1110                                                    <p>ATK (moving view)</p>
1111                                                </div>
1112                                                <div class="vid-tex-overlay">
1113                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1114                                                        <source src="static/videos/iphone/hanging/disco.mp4" type="video/mp4">
1115                                                        Your browser does not support the video tag.
1116                                                    </video>
1117                                                    <img src="static/images/6x_black.svg" class="six" >
1118                                                </div>
1119                                            </div>
1120                                        </div>
1121                                        
1122                                        
1123                                        <div class="videos-row-baselines">
1124                                            <!-- Second Row: Three Videos -->
1125                                            <div class="video-container success">
1126                                                <div class="text-baseline">
1127                                                    <p>R3M</p>
1128                                                </div>
1129                                                <div class="vid-tex-overlay">
1130                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1131                                                        <source src="static/videos/baselines/hanging/r3m/disco.mp4" type="video/mp4">
1132                                                        Your browser does not support the video tag.
1133                                                    </video>
1134                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1135                                                    <img src="static/images/cross.svg" class="tick-mark" >
1136                                                </div>
1137                                                
1138                                            </div>
1139                                            
1140                                            <div class="video-container">
1141                                                <div class="text-baseline">
1142                                                    <p>Depth</p>
1143                                                </div>
1144                                                <div class="vid-tex-overlay">
1145                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1146                                                        <source src="static/videos/baselines/hanging/depth/disco.mp4" type="video/mp4">
1147                                                        Your browser does not support the video tag.
1148                                                    </video>
1149                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1150                                                    <img src="static/images/cross.svg" class="tick-mark" >
1151                                                </div>
1152                                                
1153                                            </div>
1154                                            <div class="video-container">
1155                                                <div class="text-baseline">
1156                                                    <p>Point Cloud</p>
1157                                                </div>
1158                                                <div class="vid-tex-overlay">
1159                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1160                                                        <source src="static/videos/baselines/hanging/pointcloud/disco.mp4" type="video/mp4">
1161                                                        Your browser does not support the video tag.
1162                                                    </video>
1163                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1164                                                    <img src="static/images/cross.svg" class="tick-mark" >
1165                                                </div>   
1166                                            </div>
1167                                        </div>
1168                                    </div>
1169                                </section>
1170                            </div>  
1171                        </div>
1172                    </div>
1173                </div>
1174            </div>
1175        </section>
1176    </div>
1177
1178    <!--------------------------------------------- Grape-Oven ------------------------------------------------------->
1179    
1180    
1181    <div class="container video-gallery-wrapper is-hidden" id="grape-oven">        
1182
1183        <!-- Video Gallery Section -->
1184        <section class="section is-light video-gallery" >
1185
1186                <!-- Task Description -->
1187            <!-- <h4 class="is-5 task-title";>
1188                                <strong>Towel Folding</strong>
1189                            </h4> -->
1190
1191            <!-- Combined Video Demonstration -->
1192            <div id="task-teaser">
1193                <!-- <div class="video-container"> -->
1194                    <!-- <video  loading="lazy" preload="none"  muted loop playsinline >
1195                        <source src="static/videos/kp_filtering/towel_combined.mp4" type="video/mp4">
1196                        Your browser does not support the video tag.
1197                    </video> -->
1198                <!-- </div> -->
1199                <div class="teaser-row">
1200                    <!-- Left Video -->
1201                    <div class="video-container">
1202                        <h4 class="text-teaser";>
1203                            Automatic Task-driven Keypoints Filtering​ </h4>
1204                        <video  loading="lazy" preload="none"  muted loop playsinline >
1205                            <source src="static/videos/teaser/oven_filtering.mp4" type="video/mp4">
1206                            Your browser does not support the video tag.
1207                        </video>
1208                    </div>
1209                
1210                    <!-- Center Image -->
1211                    <div class="video-container">
1212                        <h4 class="text-teaser";>
1213                            Keypoints Transfer during Inference​​ </h4>
1214                            <div class="image-grid">
1215                                <div class="image-container">
1216                                    <img src="static/images/oven_2.png" alt="Image 1" class="teaser-image">
1217                                </div>
1218                                <div class="image-container">
1219                                    <img src="static/images/oven_3.png" alt="Image 2" class="teaser-image">
1220                                </div>
1221                                <div class="image-container">
1222                                    <img src="static/images/oven_4.png" alt="Image 3" class="teaser-image">
1223                                </div>
1224                                <div class="image-container">
1225                                    <img src="static/images/oven_5.png" alt="Image 4" class="teaser-image">
1226                                </div>
1227                            </div>
1228                    </div>
1229                
1230                    <!-- Right Video -->
1231                    <div>
1232                    <h4 class="text-teaser";>
1233                        Keypoints Tracking during Rollout​ </h4>
1234                    <div class="video-container">
1235                        <div class="vid-tex-overlay">
1236                            <video  loading="lazy" preload="none"  muted loop playsinline >
1237                                <source src="static/videos/teaser/oven_tracking.mp4" type="video/mp4">
1238                                Your browser does not support the video tag.
1239                            </video>
1240                            <img src="static/images/8x_black.svg" class="eight-teaser" >
1241                        </div>
1242                    </div>
1243                    </div>
1244                </div>
1245            </div>
1246            
1247            
1248            <div class="container four-condn-container">
1249
1250                <!-- Video Content Container -->
1251                <div class="video-content">
1252                    <!-- Side Views (DJI & Moving) -->
1253                    <div class="view-content" id="side-views">
1254                        <div class="side-views-container">
1255                        <!-- DJI Camera View  | Moving View-->
1256                        <div id="dji-view-grape-oven">
1257                            <!-- Task 1 -->
1258                            <div class="task-section">
1259                                <!-- Row 1 -->
1260
1261
1262                                <!-- Task 1: Towel Folding -->
1263                                <section class="section task-section">
1264                                    <div class="condition-section">
1265                                        <div class="video-selector-wrapper"> 
1266                                            <div class="video-selector-container">
1267                                              <div class="select mb-2">
1268                                                <select class="video-selector" data-condition="random-position" data-view="dji">
1269                                                  <option value="1">Rollout 1</option>
1270                                                  <option value="2">Rollout 2</option>
1271                                                  <option value="3">Rollout 3</option>
1272                                                  <option value="4">Rollout 4</option>
1273                                                  
1274                                                </select>
1275                                            
1276                                                
1277                                              </div>
1278                                              
1279                                            </div>
1280                                            <div class="video-selector-condn">
1281                                            <h5 class="subtitle is-5">Random Position</h5>
1282                                            </div>
1283
1284                                        </div>
1285                                          
1286                                        <div class="videos-row">
1287                                            <!-- First Row: Two Videos -->
1288                                            <div class="video-container">
1289                                                <div class="text-atk">
1290                                                    <p>ATK (static view)</p>
1291                                                </div>
1292                                                <div class="vid-tex-overlay">
1293                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1294                                                    <source src="static/videos/dji/oven/rp1.mp4" type="video/mp4">
1295                                                    Your browser does not support the video tag.
1296                                                </video>
1297                                                <img src="static/images/6x_black.svg" class="six" >
1298                                                </div>
1299                                                
1300                                            </div>
1301                                            <div class="video-container">
1302                                                <div class="text-atk">
1303                                                    <p>ATK (moving view)</p>
1304                                                </div>
1305                                                <div class="vid-tex-overlay">
1306                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1307                                                        <source src="static/videos/iphone/oven/rp1.mp4" type="video/mp4">
1308                                                        Your browser does not support the video tag.
1309                                                    </video>
1310                                                    <img src="static/images/6x_black.svg" class="six" >
1311                                                </div>
1312                                            </div>
1313                                        </div>
1314                                        
1315                                        
1316                                        <div class="videos-row-baselines">
1317                                            <!-- Second Row: Three Videos -->
1318                                            <div class="video-container success">
1319                                                <div class="text-baseline">
1320                                                    <p>R3M</p>
1321                                                </div>
1322                                                <div class="vid-tex-overlay">
1323                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1324                                                        <source src="static/videos/baselines/oven/r3m/org.mp4" type="video/mp4">
1325                                                        Your browser does not support the video tag.
1326                                                    </video>
1327                                                    <img src="static/images/tick.svg" class="tick-mark" >
1328                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1329                                                </div>
1330                                                
1331                                            </div>
1332                                            
1333                                            <div class="video-container">
1334                                                <div class="text-baseline">
1335                                                    <p>Depth</p>
1336                                                </div>
1337                                                <div class="vid-tex-overlay">
1338                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1339                                                        <source src="static/videos/baselines/oven/depth/org.mp4" type="video/mp4">
1340                                                        Your browser does not support the video tag.
1341                                                    </video>
1342                                                    <img src="static/images/cross.svg" class="tick-mark" >
1343                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1344                                                </div>
1345                                                
1346                                            </div>
1347                                            <div class="video-container">
1348                                                <div class="text-baseline">
1349                                                    <p>Point Cloud</p>
1350                                                </div>
1351                                                <div class="vid-tex-overlay">
1352                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1353                                                        <source src="static/videos/baselines/oven/pointcloud/org.mp4" type="video/mp4">
1354                                                        Your browser does not support the video tag.
1355                                                    </video>
1356                                                    <img src="static/images/cross.svg" class="tick-mark" >
1357                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1358                                                </div>
1359                                                
1360                                            </div>
1361                                        </div>
1362                                    </div>
1363                                    <div class="condition-section">
1364                                        <div class="video-selector-wrapper"> 
1365                                            <div class="video-selector-container">
1366                                              <div class="select mb-2">
1367                                                <select class="video-selector" data-condition="random-distractors" data-view="dji">
1368                                                  <option value="1">Rollout 1</option>
1369                                                  <option value="2">Rollout 2</option>
1370                                                  <option value="3">Rollout 3</option>
1371                                                  <option value="4">Rollout 4</option>
1372                                                </select>
1373                                              </div>
1374                                              
1375                                            </div>
1376                                            <div class="video-selector-condn">
1377                                            <h5 class="subtitle is-5">Random Distractors</h5>
1378                                            </div>
1379
1380                                        </div>
1381                                          
1382                                        <div class="videos-row">
1383                                            <!-- First Row: Two Videos -->
1384                                            <div class="video-container">
1385                                                <div class="text-atk">
1386                                                    <p>ATK (static view)</p>
1387                                                </div>
1388                                                <div class="vid-tex-overlay">
1389                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1390                                                    <source src="static/videos/dji/oven/rd1.mp4" type="video/mp4">
1391                                                    Your browser does not support the video tag.
1392                                                </video>
1393                                                <img src="static/images/6x_black.svg" class="six" >
1394                                                </div>
1395                                                
1396                                            </div>
1397                                            <div class="video-container">
1398                                                <div class="text-atk">
1399                                                    <p>ATK (moving view)</p>
1400                                                </div>
1401                                                <div class="vid-tex-overlay">
1402                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1403                                                        <source src="static/videos/iphone/oven/rd1.mp4" type="video/mp4">
1404                                                        Your browser does not support the video tag.
1405                                                    </video>
1406                                                    <img src="static/images/6x_black.svg" class="six" >
1407                                                </div>
1408                                            </div>
1409                                        </div>
1410                                        
1411                                        
1412                                        <div class="videos-row-baselines">
1413                                            <!-- Second Row: Three Videos -->
1414                                            <div class="video-container success">
1415                                                <div class="text-baseline">
1416                                                    <p>R3M</p>
1417                                                </div>
1418                                                <div class="vid-tex-overlay">
1419                                                    <video  loading="lazy" p
1419reload="none"  muted loop playsinline  class="interactive-video">
1420                                                        <source src="static/videos/baselines/oven/r3m/dist.mp4" type="video/mp4">
1421                                                        Your browser does not support the video tag.
1422                                                    </video>
1423                                                    <img src="static/images/cross.svg" class="tick-mark" >
1424                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1425                                                    
1426                                                </div>
1427                                                
1428                                            </div>
1429                                            
1430                                            <div class="video-container">
1431                                                <div class="text-baseline">
1432                                                    <p>Depth</p>
1433                                                </div>
1434                                                <div class="vid-tex-overlay">
1435                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1436                                                        <source src="static/videos/baselines/oven/depth/dist.mp4" type="video/mp4">
1437                                                        Your browser does not support the video tag.
1438                                                    </video>
1439                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1440                                                    <img src="static/images/cross.svg" class="tick-mark" >
1441                                                </div>
1442                                                
1443                                            </div>
1444                                            <div class="video-container">
1445                                                <div class="text-baseline">
1446                                                    <p>Point Cloud</p>
1447                                                </div>
1448                                                <div class="vid-tex-overlay">
1449                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1450                                                        <source src="static/videos/baselines/oven/pointcloud/dist.mp4" type="video/mp4">
1451                                                        Your browser does not support the video tag.
1452                                                    </video>
1453                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1454                                                    <img src="static/images/cross.svg" class="tick-mark" >
1455                                                </div>
1456                                                
1457                                            </div>
1458                                        </div>
1459                                    </div>
1460                                    <div class="condition-section">
1461                                        <div class="video-selector-wrapper"> 
1462                                            <div class="video-selector-container">
1463                                              <div class="select mb-2">
1464                                                <select class="video-selector" data-condition="random-backgrounds" data-view="dji">
1465                                                  <option value="1">Rollout 1</option>
1466                                                  <option value="2">Rollout 2</option>
1467                                                  <option value="3">Rollout 3</option>
1468                                                  <option value="4">Rollout 4</option>
1469                                                </select>
1470                                              </div>
1471                                              
1472                                            </div>
1473                                            <div class="video-selector-condn">
1474                                            <h5 class="subtitle is-5">
1474Random Backgrounds</h5>
1475                                            </div>
1476
1477                                        </div>
1478                                          
1479                                        <div class="videos-row">
1480                                            <!-- First Row: Two Videos -->
1481                                            <div class="video-container">
1482                                                <div class="text-atk">
1483                                                    <p>ATK (static view)</p>
1484                                                </div>
1485                                                <div class="vid-tex-overlay">
1486                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1487                                                    <source src="static/videos/dji/oven/rb1.mp4" type="video/mp4">
1488                                                    Your browser does not support the video tag.
1489                                                </video>
1490                                                <img src="static/images/6x_black.svg" class="six" >
1491                                                </div>
1492                                                
1493                                            </div>
1494                                            <div class="video-container">
1495                                                <div class="text-atk">
1496                                                    <p>ATK (moving view)</p>
1497                                                </div>
1498                                                <div class="vid-tex-overlay">
1499                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1500                                                        <source src="static/videos/iphone/oven/rb1.mp4" type="video/mp4">
1501                                                        Your browser does not support the video tag.
1502                                                    </video>
1503                                                    <img src="static/images/6x_black.svg" class="six" >
1504                                                </div>
1505                                            </div>
1506                                        </div>
1507                                        
1508                                        
1509                                        <div class="videos-row-baselines">
1510                                            <!-- Second Row: Three Videos -->
1511                                            <div class="video-container success">
1512                                                <div class="text-baseline">
1513                                                    <p>R3M</p>
1514                                                </div>
1515                                                <div class="vid-tex-overlay">
1516                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1517                                                        <source src="static/videos/baselines/oven/r3m/bck.mp4" type="video/mp4">
1518                                                        Your browser does not support the video tag.
1519                                                    </video>
1520                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1521                                                    <img src="static/images/cross.svg" class="tick-mark" >
1522                                                </div>
1523                                                
1524                                            </div>
1525                                            
1526                                            <div class="video-container">
1527                                                <div class="text-baseline">
1528                                                    <p>Depth</p>
1529                                                </div>
1530                                                <div class="vid-tex-overlay">
1531                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1532                                                        <source src="static/videos/baselines/oven/depth/bck.mp4" type="video/mp4">
1533                                                        Your browser does not support the video tag.
1534                                                    </video>
1535                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1536                                                    <img src="static/images/cross.svg" class="tick-mark" >
1537                                                </div>
1538                                                
1539                                            </div>
1540                                            <div class="video-container">
1541                                                <div class="text-baseline">
1542                                                    <p>Point Cloud</p>
1543                                                </div>
1544                                                <div class="vid-tex-overlay">
1545                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1546                                                        <source src="static/videos/baselines/oven/pointcloud/bck.mp4" type="video/mp4">
1547                                                        Your browser does not support the video tag.
1548                                                    </video>
1549                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1550                                                    <img src="static/images/cross.svg" class="tick-mark" >
1551                                                </div>
1552                                                
1553                                            </div>
1554                                        </div>
1555                                    </div>
1556
1557                                    <div class="condition-section">
1558                                        <div class="video-selector-wrapper"> 
1559                                            <div class="video-selector-container">
1560                                              <div class="select mb-2">
1561                                                <select class="video-selector" data-condition="random-lights" data-view="dji">
1562                                                  <option value="1">Rollout 1</option>
1563                                                  <option value="2">Rollout 2</option>
1564                                                </select>
1565                                              </div>
1566                                              
1567                                            </div>
1568                                            <div class="video-selector-condn">
1569                                            <h5 class="subtitle is-5">Random Lights</h5>
1570                                            </div>
1571
1572                                        </div>
1573                                          
1574                                        <div class="videos-row">
1575                                            <!-- First Row: Two Videos -->
1576                                            <div class="video-container">
1577                                                <div class="text-atk">
1578                                                    <p>ATK (static view)</p>
1579                                                </div>
1580                                                <div class="vid-tex-overlay">
1581                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1582                                                    <source src="static/videos/dji/oven/disco.mp4" type="video/mp4">
1583                                                    Your browser does not support the video tag.
1584                                                </video>
1585                                                <img src="static/images/6x_black.svg" class="six" >
1586                                                </div>
1587                                                
1588                                            </div>
1589                                            <div class="video-container">
1590                                                <div class="text-atk">
1591                                                    <p>ATK (moving view)</p>
1592                                                </div>
1593                                                <div class="vid-tex-overlay">
1594                                                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1595                                                        <source src="static/videos/iphone/oven/disco.mp4" type="video/mp4">
1596                                                        Your browser does not support the video tag.
1597                                                    </video>
1598                                                    <img src="static/images/6x_black.svg" class="six" >
1599                                                </div>
1600                                            </div>
1601                                        </div>
1602                                        
1603                                        
1604                                        <div class="videos-row-baselines">
1605                                            <!-- Second Row: Three Videos -->
1606                                            <div class="video-container success">
1607                                                <div class="text-baseline">
1608                                                    <p>R3M</p>
1609                                                </div>
1610                                                <div class="vid-tex-overlay">
1611                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1612                                                        <source src="static/videos/baselines/oven/r3m/disco.mp4" type="video/mp4">
1613                                                        Your browser does not support the video tag.
1614                                                    </video>
1615                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1616                                                    <img src="static/images/cross.svg" class="tick-mark" >
1617                                                </div>
1618                                                
1619                                            </div>
1620                                            
1621                                            <div class="video-container">
1622                                                <div class="text-baseline">
1623                                                    <p>Depth</p>
1624                                                </div>
1625                                                <div class="vid-tex-overlay">
1626                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1627                                                        <source src="static/videos/baselines/oven/depth/disco.mp4" type="video/mp4">
1628                                                        Your browser does not support the video tag.
1629                                                    </video>
1630                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1631                                                    <img src="static/images/cross.svg" class="tick-mark" >
1632                                                </div>
1633                                                
1634                                            </div>
1635                                            <div class="video-container">
1636                                                <div class="text-baseline">
1637                                                    <p>Point Cloud</p>
1638                                                </div>
1639                                                <div class="vid-tex-overlay">
1640                                                    <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1641                                                        <source src="static/videos/baselines/oven/pointcloud/disco.mp4" type="video/mp4">
1642                                                        Your browser does not support the video tag.
1643                                                    </video>
1644                                                    <img src="static/images/6x_black.svg" class="six_baseline" >
1645                                                    <img src="static/images/cross.svg" class="tick-mark" >
1646                                                </div>   
1647                                            </div>
1648                                        </div>
1649                                    </div>
1650                                </section>
1651                            </div>  
1652                        </div>
1653                    </div>
1654                </div>
1655            </div>
1656        </section>
1657    </div>
1658<!--------------------------------------------- Pan Filling ------------------------------------------------------->
1659    
1660    
1661<div class="container video-gallery-wrapper is-hidden" id="pan-filling">        
1662
1663    <!-- Video Gallery Section -->
1664    <section class="section is-light video-gallery" >
1665
1666            <!-- Task Description -->
1667        <!-- <h4 class="is-5 task-title";>
1668                            <strong>Towel Folding</strong>
1669                        </h4> -->
1670
1671        <!-- Combined Video Demonstration -->
1672        <div id="task-teaser">
1673            <!-- <div class="video-container"> -->
1674                <!-- <video  loading="lazy" preload="none"  muted loop playsinline >
1675                    <source src="static/videos/kp_filtering/towel_c
1675ombined.mp4" type="video/mp4">
1676                    Your browser does not support the video tag.
1677                </video> -->
1678            <!-- </div> -->
1679            <div class="teaser-row">
1680                <!-- Left Video -->
1681                <div class="video-container">
1682                    <h4 class="text-teaser";>
1683                        Automatic Task-driven Keypoints Filtering​ </h4>
1684                    <video  loading="lazy" preload="none"  muted loop playsinline >
1685                        <source src="static/videos/teaser/pan_filtering.mp4" type="video/mp4">
1686                        Your browser does not support the video tag.
1687                    </video>
1688                </div>
1689            
1690                <!-- Center Image -->
1691                <div class="video-container">
1692                    <h4 class="text-teaser";>
1693                        Keypoints Transfer during Inference​​ </h4>
1694                        <div class="image-grid">
1695                            <div class="image-container">
1696                                <img src="static/images/pan_2.png" alt="Image 1" class="teaser-image">
1697                            </div>
1698                            <div class="image-container">
1699                                <img src="static/images/pan_3.png" alt="Image 2" class="teaser-image">
1700                            </div>
1701                            <div class="image-container">
1702                                <img src="static/images/pan_4.png" alt="Image 3" class="teaser-image">
1703                            </div>
1704                            <div class="image-container">
1705                                <img src="static/images/pan_5.png" alt="Image 4" class="teaser-image">
1706                            </div>
1707                        </div>
1708                </div>
1709            
1710                <!-- Right Video -->
1711                <div>
1712                <h4 class="text-teaser";>
1713                    Keypoints Tracking during Rollout​ </h4>
1714                <div class="video-container">
1715                    <div class="vid-tex-overlay">
1716                        <video  loading="lazy" preload="none"  muted loop playsinline >
1717                            <source src="static/videos/teaser/pan_tracking.mp4" type="video/mp4">
1718                            Your browser does not support the video tag.
1719                        </video>
1720                        <img src="static/images/8x_black.svg" class="eight-teaser" >
1721                    </div>
1722                </div>
1723                </div>
1724            </div>
1725        </div>
1726        
1727        
1728        <div class="container four-condn-container">
1729
1730            <!-- Video Content Container -->
1731            <div class="video-content">
1732                <!-- Side Views (DJI & Moving) -->
1733                <div class="view-content" id="side-views">
1734                    <div class="side-views-container">
1735                    <!-- DJI Camera View  | Moving View-->
1736                    <div id="dji-view-pan-filling">
1737                        <!-- Task 1 -->
1738                        <div class="task-section">
1739                            <!-- Row 1 -->
1740
1741
1742                          
1743                            <section class="section task-section">
1744                                <div class="condition-section">
1745                                    <div class="video-selector-wrapper"> 
1746                                        <div class="video-selector-container">
1747                                          <div class="select mb-2">
1748                                            <select class="video-selector" data-condition="random-position" data-view="dji">
1749                                              <option value="1">Rollout 1</option>
1750                                              <option value="2">Rollout 2</option>
1751                                              <option value="3">Rollout 3</option>
1752                                              <option value="4">Rollout 4</option>
1753                                              
1754                                            </select>
1755                                        
1756                                            
1757                                          </div>
1758                                          
1759                                        </div>
1760                                        <div class="video-selector-condn">
1761                                        <h5 class="subtitle is-5">Random Position</h5>
1762                                        </div>
1763
1764                                    </div>
1765                                      
1766                                    <div class="videos-row">
1767                                        <!-- First Row: Two Videos -->
1768                                        <div class="video-container">
1769                                            <div class="text-atk">
1770                                                <p>ATK (static view)</p>
1771                                            </div>
1772                                            <div class="vid-tex-overlay">
1773                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1774                                                <source src="static/videos/dji/pan/rp1.mp4" type="video/mp4">
1775                                                Your browser does not support the video tag.
1776                                            </video>
1777                                            <img src="static/images/6x_black.svg" class="six" >
1778                                            </div>
1779                                            
1780                                        </div>
1781                                        <div class="video-container">
1782                                            <div class="text-atk">
1783                                                <p>ATK (moving view)</p>
1784                                            </div>
1785                                            <div class="vid-tex-overlay">
1786                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1787                                                    <source src="static/videos/iphone/pan/rp1.mp4" type="video/mp4">
1788                                                    Your browser does not support the video tag.
1789                                                </video>
1790                                                <img src="static/images/6x_black.svg" class="six" >
1791                                            </div>
1792                                        </div>
1793                                    </div>
1794                                    
1795                                    
1796                                    <div class="videos-row-baselines">
1797                                        <!-- Second Row: Three Videos -->
1798                                        <div class="video-container success">
1799                                            <div class="text-baseline">
1800                                                <p>R3M</p>
1801                                            </div>
1802                                            <div class="vid-tex-overlay">
1803                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1804                                                    <source src="static/videos/baselines/pan/r3m/org.mp4" type="video/mp4">
1805                                                    Your browser does not support the video tag.
1806                                                </video>
1807                                                <img src="static/images/tick.svg" class="tick-mark" >
1808                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1809                                            </div>
1810                                            
1811                                        </div>
1812                                        
1813                                        <div class="video-container">
1814                                            <div class="text-baseline">
1815                                                <p>Depth</p>
1816                                            </div>
1817                                            <div class="vid-tex-overlay">
1818                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1819                                                    <source src="static/videos/baselines/pan/depth/org.mp4" type="video/mp4">
1820                                                    Your browser does not support the video tag.
1821                                                </video>
1822                                                <img src="static/images/cross.svg" class="tick-mark" >
1823                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1824                                            </div>
1825                                            
1826                                        </div>
1827                                        <div class="video-container">
1828                                            <div class="text-baseline">
1829                                                <p>Point Cloud</p>
1830                                            </div>
1831                                            <div class="vid-tex-overlay">
1832                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1833                                                    <source src="static/videos/baselines/pan/pointcloud/org.mp4" type="video/mp4">
1834                                                    Your browser does not support the video tag.
1835                                                </video>
1836                                                <img src="static/images/cross.svg" class="tick-mark" >
1837                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1838                                            </div>
1839                                            
1840                                        </div>
1841                                    </div>
1842                                </div>
1843                                <div class="condition-section">
1844                                    <div class="video-selector-wrapper"> 
1845                                        <div class="video-selector-container">
1846                                          <div class="select mb-2">
1847                                            <select class="video-selector" data-condition="random-distractors" data-view="dji">
1848                                              <option value="1">Rollout 1</option>
1849                                              <option value="2">Rollout 2</option>
1850                                              <option value="3">Rollout 3</option>
1851                                              <option value="4">Rollout 4</option>
1852                                            </select>
1853                                          </div>
1854                                          
1855                                        </div>
1856                                        <div class="video-selector-condn">
1857                                        <h5 class="subtitle is-5">Random Distractors</h5>
1858                                        </div>
1859
1860                                    </div>
1861                                      
1862                                    <div class="videos-row">
1863                                        <!-- First Row: Two Videos -->
1864                                        <div class="video-container">
1865                                            <div class="text-atk">
1866                                                <p>ATK (static view)</p>
1867                                            </div>
1868                                            <div class="vid-tex-overlay">
1869                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1870                                                <source src="static/videos/dji/pan/rd1.mp4" type="video/mp4">
1871                                                Your browser does not support the video tag.
1872                                            </video>
1873                                            <img src="static/images/6x_black.svg" class="six" >
1874                                            </div>
1875                                            
1876                                        </div>
1877                                        <div class="video-container">
1878                                            <div class="text-atk">
1879                                                <p>ATK (moving view)</p>
1880                                            </div>
1881                                            <div class="vid-tex-overlay">
1882                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1883                                                    <source src="static/videos/iphone/pan/rd1.mp4" type="video/mp4">
1884                                                    Your browser does not support the video tag.
1885                                                </video>
1886                                                <img src="static/images/6x_black.svg" class="six" >
1887                                            </div>
1888                                        </div>
1889                                    </div>
1890                                    
1891                                    
1892                                    <div class="videos-row-baselines">
1893                                        <!-- Second Row: Three Videos -->
1894                                        <div class="video-container success">
1895                                            <div class="text-baseline">
1896                                                <p>R3M</p>
1897                                            </div>
1898                                            <div class="vid-tex-overlay">
1899                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1900                                                    <source src="static/videos/baselines/pan/r3m/dist.mp4" type="video/mp4">
1901                                                    Your browser does not support the video tag.
1902                                                </video>
1903                                                <img src="static/images/cross.svg" class="tick-mark" >
1904                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1905                                                
1906                                            </div>
1907                                            
1908                                        </div>
1909                                        
1910                                        <div class="video-container">
1911                                            <div class="text-baseline">
1912                                                <p>Depth</p>
1913                                            </div>
1914                                            <div class="vid-tex-overlay">
1915                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1916                                                    <source src="static/videos/baselines/pan/depth/dist.mp4" type="video/mp4">
1917                                                    Your browser does not support the video tag.
1918                                                </video>
1919                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1920                                                <img src="static/images/cross.svg" class="tick-mark" >
1921                                            </div>
1922                                            
1923                                        </div>
1924                                        <div class="video-container">
1925                                            <div class="text-baseline">
1926                                                <p>Point Cloud</p>
1927                                 
1927           </div>
1928                                            <div class="vid-tex-overlay">
1929                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1930                                                    <source src="static/videos/baselines/pan/pointcloud/dist.mp4" type="video/mp4">
1931                                                    Your browser does not support the video tag.
1932                                                </video>
1933                                                <img src="static/images/6x_black.svg" class="six_baseline" >
1934                                                <img src="static/images/cross.svg" class="tick-mark" >
1935                                            </div>
1936                                            
1937                                        </div>
1938                                    </div>
1939                                </div>
1940                                <div class="condition-section">
1941                                    <div class="video-selector-wrapper"> 
1942                                        <div class="video-selector-container">
1943                                          <div class="select mb-2">
1944                                            <select class="video-selector" data-condition="random-backgrounds" data-view="dji">
1945                                              <option value="1">Rollout 1</option>
1946                                              <option value="2">Rollout 2</option>
1947                                              <option value="3">Rollout 3</option>
1948                                              
1949                                            </select>
1950                                          </div>
1951                                          
1952                                        </div>
1953                                        <div class="video-selector-condn">
1954                                        <h5 class="subtitle is-5">Random Backgrounds</h5>
1955                                        </div>
1956
1957                                    </div>
1958                                      
1959                                    <div class="videos-row">
1960                                        <!-- First Row: Two Videos -->
1961                                        <div class="video-container">
1962                                            <div class="text-atk">
1963                                                <p>ATK (static view)</p>
1964                                            </div>
1965                                            <div class="vid-tex-overlay">
1966                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1967                                                <source src="static/videos/dji/pan/rb1.mp4" type="video/mp4">
1968                                                Your browser does not support the video tag.
1969                                            </video>
1970                                            <img src="static/images/6x_black.svg" class="six" >
1971                                            </div>
1972                                            
1973                                        </div>
1974                                        <div class="video-container">
1975                                            <div class="text-atk">
1976                                                <p>ATK (moving view)</p>
1977                                            </div>
1978                                            <div class="vid-tex-overlay">
1979                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
1980                                                    <source src="static/videos/iphone/pan/rb1.mp4" type="video/mp4">
1981                                                    Your browser does not support the video tag.
1982                                                </video>
1983                                                <img src="static/images/6x_black.svg" class="six" >
1984                                            </div>
1985                                        </div>
1986                                    </div>
1987                                    
1988                                    
1989                                    <div class="videos-row-baselines">
1990                                        <!-- Second Row: Three Videos -->
1991                                        <div class="video-container success">
1992                                            <div class="text-baseline">
1993                                                <p>R3M</p>
1994                                            </div>
1995                                            <div class="vid-tex-overlay">
1996                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
1997                                                    <source src="static/videos/baselines/pan/r3m/bck.mp4" type="video/mp4">
1998                                                    Your browser does not support the video tag.
1999                                                </video>
2000                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2001                                                <img src="static/images/cross.svg" class="tick-mark" >
2002                                            </div>
2003                                            
2004                                        </div>
2005                                        
2006                                        <div class="video-container">
2007                                            <div class="text-baseline">
2008                                                <p>Depth</p>
2009                                            </div>
2010                                            <div class="vid-tex-overlay">
2011                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
2012                                                    <source src="static/videos/baselines/pan/depth/bck.mp4" type="video/mp4">
2013                                                    Your browser does not support the video tag.
2014                                                </video>
2015                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2016                                                <img src="static/images/cross.svg" class="tick-mark" >
2017                                            </div>
2018                                            
2019                                        </div>
2020                                        <div class="video-container">
2021                                            <div class="text-baseline">
2022                                                <p>Point Cloud</p>
2023                                            </div>
2024                                            <div class="vid-tex-overlay">
2025                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
2026                                                    <source src="static/videos/baselines/pan/pointcloud/bck.mp4" type="video/mp4">
2027                                                    Your browser does not support the video tag.
2028                                                </video>
2029                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2030                                                <img src="static/images/cross.svg" class="tick-mark" >
2031                                            </div>
2032                                            
2033                                        </div>
2034                                    </div>
2035                                </div>
2036
2037                                <div class="condition-section">
2038                                    <div class="video-selector-wrapper"> 
2039                                        <div class="video-selector-container">
2040                                          <div class="select mb-2">
2041                                            <select class="video-selector" data-condition="random-lights" data-view="dji">
2042                                              <option value="1">Rollout 1</option>
2043                                              <option value="2">Rollout 2</option>
2044                                            </select>
2045                                          </div>
2046                                          
2047                                        </div>
2048                                        <div class="video-selector-condn">
2049                                        <h5 class="subtitle is-5">Random Lights</h5>
2050                                        </div>
2051
2052                                    </div>
2053                                      
2054                                    <div class="videos-row">
2055                                        <!-- First Row: Two Videos -->
2056                                        <div class="video-container">
2057                                            <div class="text-atk">
2058                                                <p>ATK (static view)</p>
2059                                            </div>
2060                                            <div class="vid-tex-overlay">
2061                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2062                                                <source src="static/videos/dji/pan/disco.mp4" type="video/mp4">
2063                                                Your browser does not support the video tag.
2064                                            </video>
2065                                            <img src="static/images/6x_black.svg" class="six" >
2066                                            </div>
2067                                            
2068                                        </div>
2069                                        <div class="video-container">
2070                                            <div class="text-atk">
2071                                                <p>ATK (moving view)</p>
2072                                            </div>
2073                                            <div class="vid-tex-overlay">
2074                                                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2075                                                    <source src="static/videos/iphone/pan/disco.mp4" type="video/mp4">
2076                                                    Your browser does not support the video tag.
2077                                                </video>
2078                                                <img src="static/images/6x_black.svg" class="six" >
2079                                            </div>
2080                                        </div>
2081                                    </div>
2082                                    
2083                                    
2084                                    <div class="videos-row-baselines">
2085                                        <!-- Second Row: Three Videos -->
2086                                        <div class="video-container success">
2087                                            <div class="text-baseline">
2088                                                <p>R3M</p>
2089                                            </div>
2090                                            <div class="vid-tex-overlay">
2091                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
2092                                                    <source src="static/videos/baselines/pan/r3m/disco.mp4" type="video/mp4">
2093                                                    Your browser does not support the video tag.
2094                                                </video>
2095                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2096                                                <img src="static/images/cross.svg" class="tick-mark" >
2097                                            </div>
2098                                            
2099                                        </div>
2100                                        
2101                                        <div class="video-container">
2102                                            <div class="text-baseline">
2103                                                <p>Depth</p>
2104                                            </div>
2105                                            <div class="vid-tex-overlay">
2106                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
2107                                                    <source src="static/videos/baselines/pan/depth/disco.mp4" type="video/mp4">
2108                                                    Your browser does not support the video tag.
2109                                                </video>
2110                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2111                                                <img src="static/images/cross.svg" class="tick-mark" >
2112                                            </div>
2113                                            
2114                                        </div>
2115                                        <div class="video-container">
2116                                            <div class="text-baseline">
2117                                                <p>Point Cloud</p>
2118                                            </div>
2119                                            <div class="vid-tex-overlay">
2120                                                <video  loading="lazy" preload="none"  muted loop playsinline  class="interactive-video">
2121                                                    <source src="static/videos/baselines/pan/pointcloud/disco.mp4" type="video/mp4">
2122                                                    Your browser does not support the video tag.
2123                                                </video>
2124                                                <img src="static/images/6x_black.svg" class="six_baseline" >
2125                                                <img src="static/images/cross.svg" class="tick-mark" >
2126                                            </div>   
2127                                        </div>
2128                                    </div>
2129                                </div>
2130                            </section>
2131                        </div>  
2132                    </div>
2133                </div>
2134            </div>
2135        </div>
2136    </section>
2137</div>
2138
2139   <!-- Results Section -->
2140<section class="section is-light result-container result-section">
2141    <div class="container">
2142        <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">Quantitative Results</h2>
2143        <div class="results">
2144            <div class="result-columns is-centered">
2145                <!-- Left Image -->
2146                <div class="column is-half">
2147                    <img src="static/images/Plot_imitation.png" alt="Plot Imitation" style="width: 100%; height: auto;">
2148                </div>
2149                <!-- Right Image -->
2150                <div class="column is-half">
2151                    <img src="static/images/plot_imitation_atk.png" alt="Plot Imitation ATK" style="width: 100%; height: auto;">
2152                </div>
2153            </div>
2154            <figcaption>
2155                <p><strong>Imitation policy success rates.</strong> <em>Left:</em> Aggregated results across diverse evaluation conditions show that <strong>ATK</strong> outperforms other methods based on different input modalities and selection strategies. <em>Right:</em> <strong>ATK</strong> demonstrates strong robustness under positional variation and various visual perturbations.</p>
2156            </figcaption>
2157        </div>
2158</section>
2159
2160
2161  <!-- Sim2Real -->
2162  <section class="section is-dark category-section ">
2163    <div class="container">
2164        <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">2. Sim-to-real Transfer</h2>
2165        <p class="subtitle explain has-text-centered">ATK enables sim-to-real policies to remain robust
2166            and generalizable to environmental disturbance</p> 
2167           
2168            <div class="section is-light result-container result-section">
2169                <div class="container">
2170                    <div class="results">
2171                        <div class="result is-centered">
2172                            <!-- Left Image -->
2173                            <div class="sim2real-image">
2174                                <img src="static/images/sim2real.png" alt="Method" style="width: 100%; height: auto;">
2175                            </div>
2176                        </div>
2177                        <figcaption>
2178                    
2179                        <p> <strong>Qualitative visualization of task-relevant keypoint selection and transfer.</strong> Keypoints
2180                            selected in simulation transfer to real-world scenes across various object positions, backgrounds,
2181                            distractors, and lighting.</p>
2182                        </figcaption>
2183                    </div>   
2184                </div> 
2185            </div>
2186            
2187        <div class="container four-condn-container">
2188         <!-- Sim2Real View -->
2189         <div class="view-content sim2real four">
2190                    
2191            <div class="container">
2192            
2193                <!-- Video Content -->
2194                <div class="video-content">
2195                <!-- Robot Camera View -->
2196                <div class="view-content">          
2197                    <!-- Task 1 -->
2198                    <div class="task-section">
2199
2200                    <!-- Row 1 -->
2201                        <!-- Task 1: pan Folding -->
2202                    <section class="section task-section">
2203                        <!-- <h5 class="title is-5 has-text-centered">Random Position</h5> -->
2204                        <h4 class="is-5 has-text-centered task-title" style="display: flex;">Clock Hand Turning</h4>
2205                        <div class="condition-section">
2206                        <div class="video-container">
2207                            <div class="videos-row">
2208                                <div class="column has-text-centered">
2209                                    <!-- <h4 class="title is-5">Robot Camera </h4> -->
2210                                    <div class="vid-tex-overlay">
2211                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2212                                            <source src="static/videos/sim2real/turn1.mp4" type="video/mp4">
2213                                            Your browser does not support the video tag.
2214                                        </video>
2215                                        <img src="static/images/2x.svg" class="two" >
2216                                    </div>
2217                                </div>
2218                                <div class="column has-text-centered">
2219                                    <!-- <h4 class="title is-5">DJI Camera </h4> -->
2220                                    <div class="vid-tex-overlay">
2221                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2222                                            <source src="static/videos/sim2real/turn2.mp4" type="video/mp4">
2223                                            Your browser does not support the video tag.
2224                                        </video>
2225                                        <img src="static/images/2x.svg" class="two" >
2226                                    </div>
2227                                </div>
2228                                <div class="column has-text-centered">
2229                                    <!-- <h4 class="title is-5">Robot Camera</h4> -->
2230                                    <div class="vid-tex-overlay">
2231                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2232                                            <source src="static/videos/sim2real/turn3.mp4" type="video/mp4">
2233                                            Your browser does not support the video tag.
2234                                        </video>
2235                                        <img src="static/images/2x.svg" class="two" >
2236                                    </div>
2237                                </div>
2238                            </div>
2239                        </div>
2240                        </div>
2241                        <!-- </section>
2242                        <section class="section task-section"> -->
2243                            <!-- <h5 class="title is-5 has-text-centered">Random Distractors</h5> -->
2244                        <h5 class="is-5 has-text-centered task-title" style="display: flex;">Clock Button Press</h5>
2245                        <div class="condition-section">
2246                        <div class="video-container">
2247                            <div class="videos-row">
2248                                <div class="column has-text-centered">
2249                                    <!-- <h4 class="title is-5">Robot Camera </h4> -->
2250                                    <div class="vid-tex-overlay">
2251                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2252                                            <source src="static/videos/sim2real/button1.mp4" type="video/mp4">
2253                                            Your browser does not support the video tag.
2254                                        </video>
2255                                        <img src="static/images/2x.svg" class="two" >
2256                                    </div>
2257                                </div>
2258                                <div class="column has-text-centered">
2259                                    <!-- <h4 class="title is-5">DJI Camera </h4> -->
2260                                    <div class="vid-tex-overlay">
2261                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2262                                            <source src="static/videos/sim2real/button2.mp4" type="video/mp4">
2263                                            Your browser does not support the video tag.
2264                                        </video>
2265                                        <img src="static/images/2x.svg" class="two" >
2266                                    </div>
2267                                </div>
2268                                <div class="column has-text-centered">
2269                                    <!-- <h4 class="title is-5">Robot Camera</h4> -->
2270                                    <div class="vid-tex-overlay">
2271                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2272                                            <source src="static/videos/sim2real/button3.mp4" type="video/mp4">
2273                                            Your browser does not support the video tag.
2274                                        </video>
2275                                        <img src="static/images/2x.svg" class="two" >
2276                                    </div>
2277                                </div>
2278                            </div>
2279                        </div>
2280                        </div>
2281                            <!-- </section>
2282                            <section class="section task-section">
2283                                <h5 class="title is-5 has-text-centered">
2283Random Backgrounds</h5> -->
2284                        <h5 class="is-5 has-text-centered task-title" style="display: flex;">GlassPot Lift</h5>
2285                        <div class="condition-section">
2286                        <div class="video-container">
2287                            <div class="videos-row">
2288                                <div class="column has-text-centered">
2289                                    <!-- <h4 class="title is-5">Robot Camera </h4> -->
2290                                    <div class="vid-tex-overlay">
2291                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2292                                            <source src="static/videos/sim2real/glass1.mp4" type="video/mp4">
2293                                            Your browser does not support the video tag.
2294                                        </video>
2295                                        <img src="static/images/2x.svg" class="two" >
2296                                    </div>
2297                                </div>
2298                                <div class="column has-text-centered">
2299                                    <!-- <h4 class="title is-5">DJI Camera </h4> -->
2300                                    <div class="vid-tex-overlay">
2301                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2302                                            <source src="static/videos/sim2real/glass2.mp4" type="video/mp4">
2303                                            Your browser does not support the video tag.
2304                                        </video>
2305                                        <img src="static/images/2x.svg" class="two" >
2306                                    </div>
2307                                </div>
2308                                <div class="column has-text-centered">
2309                                    <!-- <h4 class="title is-5">Robot Camera</h4> -->
2310                                    <div class="vid-tex-overlay">
2311                                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2312                                            <source src="static/videos/sim2real/glass3.mp4" type="video/mp4">
2313                                            Your browser does not support the video tag.
2314                                        </video>
2315                                        <img src="static/images/2x.svg" class="two" >
2316                                    </div>
2317                                </div>
2318                            </div>
2319                        </div>
2320                        </div>
2321                        <h5 class="is-5 has-text-centered task-title" style="display: flex;">Sushi Pick</h5>
2322                        <div class="condition-section">
2323                            <div class="video-container">
2324                                <div class="videos-row">
2325                                    <div class="column has-text-centered">
2326                                        <!-- <h4 class="title is-5">Robot Camera </h4> -->
2327                                        <div class="vid-tex-overlay">
2328                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2329                                                <source src="static/videos/sim2real/sushi1.mp4" type="video/mp4">
2330                                                Your browser does not support the video tag.
2331                                            </video>
2332                                            <img src="static/images/2x.svg" class="two" >
2333                                        </div>
2334                                    </div>
2335                                    <div class="column has-text-centered">
2336                                        <!-- <h4 class="title is-5">DJI Camera </h4> -->
2337                                        <div class="vid-tex-overlay">
2338                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2339                                                <source src="static/videos/sim2real/sushi2.mp4" type="video/mp4">
2340                                                Your browser does not support the video tag.
2341                                            </video>
2342                                            <img src="static/images/2x.svg" class="two" >
2343                                        </div>
2344                                    </div>
2345                                    <div class="column has-text-centered">
2346                                        <!-- <h4 class="title is-5">Robot Camera</h4> -->
2347                                        <div class="vid-tex-overlay">
2348                                            <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2349                                                <source src="static/videos/sim2real/sushi3.mp4" type="video/mp4">
2350                                                Your browser does not support the video tag.
2351                                            </video>
2352                                            <img src="static/images/2x.svg" class="two" >
2353                                        </div>
2354                                    </div>
2355                                </div>
2356                            </div>
2357                            </div>
2358                    </section>
2359                </div>
2360                </div>
2361            </div> 
2362        </div> 
2363    </div>
2364
2365
2366        
2367    </div>
2368</div>
2369</section>
2370
2371
2372<!-- Results Section -->
2373<section class="section is-light result-container result-section">
2374        
2375    <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">Quantitative Results</h2>
2376        <div class="results">
2377            <div class="result-columns is-centered">
2378                <!-- Left Image -->
2379                <div class="column is-half">
2380                    <img src="static/images/plot_sim2real.png" alt="Plot Imitation" style="width: 100%; height: auto;">
2381                </div>
2382                <!-- Right Image -->
2383                <div class="column is-half">
2384                    <img src="static/images/plot_sim2real_atk.png" alt="Plot Imitation ATK" style="width: 100%; height: auto;">
2385                </div>
2386            </div>
2387            <figcaption>
2388                <p><strong>Sim-to-real policy success rates in real world.</strong> <em>Left:</em> Aggregated results across real-world evaluation conditions—random pose, background variation, distractor objects, and lighting changes—show that <strong>ATK</strong> outperforms other methods using different input modalities. <em>Right:</em> <strong>ATK</strong> demonstrates strong robustness under positional variation and various visual perturbations.</p>
2389            </figcaption>
2390        </div>
2391        
2392        
2393    </div>
2394    
2395</section>
2396<!-- Category Level Generalization -->
2397<section class="section is-dark category-section category-gen">
2398    <div class="container">
2399        <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">3. Category-Level Generalization</h2>
2400        <p class="subtitle explain has-text-centered" >Can our method generalize to different objects within the same category?</p>
2401            
2402      <!-- <div class="content"> -->
2403        
2404        
2405        <section class="section task-section">
2406            <!-- Task 1: Towel Folding -->
2407            <h4 class=" is-5 has-text-centered task-title">
2408                Towel Folding
2409            </h4>
2410          <div class="videos-row">
2411            <div class="column has-text-centered">
2412                <h4 class="category-atk">Static View </h4>
2413                <div class="vid-tex-overlay">
2414                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2415                        <source src="static/videos/category-gen/towel/pink_towel_kp.mp4" type="video/mp4">
2416                        Your browser does not support the video tag.
2417                    </video>
2418                    <img src="static/images/6x_black.svg" class="six" >
2419                </div>
2420            </div>
2421            <div class="column has-text-centered">
2422                <h4 class="category-atk">Moving View </h4>
2423                <div class="vid-tex-overlay">
2424                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2425                        <source src="static/videos/category-gen/towel/pink.mp4" type="video/mp4">
2426                        Your browser does not support the video tag.
2427                    </video>
2428                    <img src="static/images/6x_black.svg" class="six" >
2429                </div>
2430            </div>
2431            <div class="column has-text-centered">
2432                <h4 class="category-atk">Static View</h4>
2433                <div class="vid-tex-overlay">
2434                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2435                        <source src="static/videos/category-gen/towel/blue_towel_kp.mp4" type="video/mp4">
2436                        Your browser does not support the video tag.
2437                    </video>
2438                    <img src="static/images/6x_black.svg" class="six" >
2439                </div>
2440            </div>
2441            <div class="column has-text-centered">
2442                <h4 class="category-atk">Moving View</h4>
2443                <div class="vid-tex-overlay">
2444                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2445                        <source src="static/videos/category-gen/towel/blue.mp4" type="video/mp4">
2446                        Your browser does not support the video tag.
2447                    </video>
2448                    <img src="static/images/6x_black.svg" class="six" >
2449                </div>
2450            </div>
2451          </div>
2452     
2453  
2454        <!-- Task 2: Hanging Blanket -->
2455        <h4 class=" is-5 has-text-centered task-title">
2456            Hanging Blanket
2457        </h4>
2458       
2459   
2460          <div class="videos-row">
2461            <div class="column has-text-centered">
2462                <h4 class="category-atk">Static View</h4>
2463                <div class="vid-tex-overlay">
2464                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2465                        <source src="static/videos/category-gen/hanging/pink_hanging_kp.mp4" type="video/mp4">
2466                        Your browser does not support the video tag.
2467                    </video>
2468                    <img src="static/images/6x_black.svg" class="six" >
2469                </div>
2470            </div>
2471            <div class="column has-text-centered">
2472                <h4 class="category-atk">Moving View</h4>
2473                <div class="vid-tex-overlay">
2474                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2475                        <source src="static/videos/category-gen/hanging/pink.mp4" type="video/mp4">
2476                        Your browser does not support the video tag.
2477                    </video>
2478                    <img src="static/images/6x_black.svg" class="six" >
2479                </div>
2480            </div>
2481            <div class="column has-text-centered">
2482                <h4 class="category-atk">Static View</h4>
2483                <div class="vid-tex-overlay">
2484                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2485                        <source src="static/videos/category-gen/hanging/blue_hanging_kp.mp4" type="video/mp4">
2486                        Your browser does not support the video tag.
2487                    </video>
2488                    <img src="static/images/6x_black.svg" class="six" >
2489                </div>
2490            </div>
2491            <div class="column has-text-centered">
2492                <h4 class="category-atk">Moving View</h4>
2493                <div class="vid-tex-overlay">
2494                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2495                        <source src="static/videos/category-gen/hanging/blue.mp4" type="video/mp4">
2496                        Your browser does not support the video tag.
2497                    </video>
2498                    <img src="static/images/6x_black.svg" class="six" >
2499                </div>
2500            </div>
2501          </div>
2502        </section>
2503  
2504      <!-- </div> -->
2505    </div>
2506  </section>
2507  <!-- End Category Level Generalization -->
2508
2509
2510  <!-- Viewpoint Generalization -->
2511<section class="section is-dark category-section viewpoint-gen">
2512    <div class="container">
2513    
2514      <h2 class="title has-text-centered" style="color: rgb(0, 0, 0);">4. ViewPoint Generalization</h2>
2515      <p class="subtitle explain has-text-centered" >Can our method generalize to different camera viewpoints?</p>
2516         
2517      <!-- <div class="content"> -->
2518        
2519        <!-- Task 1: Towel Folding -->
2520        
2521        <section class="section task-section">
2522            <h4 class=" has-text-left task-title">
2523                Towel Folding
2524            </h4>
2525          <div class="videos-row">
2526                <div class="column has-text-centered">
2527                    <h4 class="text-atk">Viewpoint 1</h4>
2528                    <div class="vid-tex-overlay">
2529                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2530                            <source src="static/videos/viewpoint-gen/towel/a.mp4" type="video/mp4">
2531                            Your browser does not support the video tag.
2532                        </video>
2533                        <img src="static/images/6x_black.svg" class="six" >
2534                    </div>
2535                </div>
2536                <div class="column has-text-centered">
2537                    <h4 class="text-atk">Viewpoint 2</h4>
2538                    <div class="vid-tex-overlay">
2539                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2540                            <source src="static/videos/viewpoint-gen/towel/b.mp4" type="video/mp4">
2541                            Your browser does not support the video tag.
2542                        </video>
2543                        <img src="static/images/6x_black.svg" class="six" >
2544                    </div>
2545                </div>
2546                <div class="column has-text-centered">
2547                    <h4 class="text-atk">Viewpoint 3</h4>
2548                    <div class="vid-tex-overlay">
2549                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2550                            <source src="static/videos/viewpoint-gen/towel/c.mp4" type="video/mp4">
2551                            Your browser does not support the video tag.
2552                        </video>
2553                        <img src="static/images/6x_black.svg" class="six" >
2554                    </div>
2555                </div>
2556          </div>
2557        
2558  
2559        <!-- Task 2: Hanging Blanket -->
2560        <h4 class=" is-5 has-text-left task-title">
2561            Hanging Blanket
2562        </h4>
2563       
2564            <div class="videos-row">
2565                <div class="column has-text-centered">
2566                    <h4 class="text-atk">Viewpoint 1</h4>
2567                    <div class="vid-tex-overlay">
2568                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2569                            <source src="static/videos/viewpoint-gen/hanging/a.mp4" type="video/mp4">
2570                            Your browser does not support the video tag.
2571                        </video>
2572                        <img src="static/images/6x_black.svg" class="six" >
2573                    </div>
2574                </div>
2575                <div class="column has-text-centered">
2576                    <h4 class="text-atk">Viewpoint 2</h4>
2577                    <div class="vid-tex-overlay">
2578                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2579                            <source src="static/videos/viewpoint-gen/hanging/b.mp4" type="video/mp4">
2580                            Your browser does not support the video tag.
2581                        </video>
2582                        <img src="static/images/6x_black.svg" class="six" >
2583                    </div>
2584                </div>
2585                <div class="column has-text-centered">
2586                    <h4 class="text-atk">Viewpoint 3</h4>
2587                    <div class="vid-tex-overlay">
2588                        <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2589                            <source src="static/videos/viewpoint-gen/hanging/c.mp4" type="video/mp4">
2590                            Your browser does not support the video tag.
2591                        </video>
2592                        <img src="static/images/6x_black.svg" class="six" >
2593                    </div>
2594                </div>
2595            </div>
2596          </section>
2597  
2598      <!-- </div> -->
2599    </div>
2600  </section>
2601<!-- End of ViewPoint Generalization -->
2602
2603
2604<!-- Limitations Section -->
2605<section class="section is-light limitations-section">
2606    <div class="container four-condn-container">
2607      <h2 class="title has-text-centered " style="color: rgb(0, 0, 0);padding-bottom: 1%;">Failure Cases</h2>
2608      <p class="subtitle explain " >
2609        Using 2D keypoint pixel coordinates as input provides limited semantic information, which may limit the system's ability to fully understand the context of the task. Additionally, off-the-shelf tracking or correspondence modules may not always be robust enough for robotic applications, especially when dealing with uncommon or visually challenging data. In sim-to-real scenarios, discrepancies in dynamics between simulation and the real world further contribute to performance failures.
2610      </p>
2611    <h5 class=" is-5  has-text-left task-title" style="color: red;">Tracking Errors</h5>
2612      <div class="section task-section">
2613        <div class="videos-row">
2614            
2615                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2616                    <source src="static/videos/limitations/t_hanging.mp4" type="video/mp4">
2617                    Your browser does not support the video tag.
2618                </video>
2619            
2620            
2621                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2622                    <source src="static/videos/limitations/t_pan.mp4" type="video/mp4">
2623                    Your browser does not support the video tag.
2624                </video>
2625                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2626                    <source src="static/videos/limitations/t_shoe.mp4" type="video/mp4">
2627                    Your browser does not support the video tag.
2628                </video>
2629            
2630        </div>
2631      </div>
2632      <h5 class=" is-5 has-text-left task-title" style="color: red;">Correspondense Mismatch</h5>
2633      <div class="section task-section">
2634        <div class="videos-row">
2635            <div class="video-container">
2636                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2637                    <source src="static/videos/limitations/c_hanging.mp4" type="video/mp4">
2638                    Your browser does not support the video tag.
2639                </video>
2640            </div>
2641            <div class="video-container">
2642                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2643                    <source src="static/videos/limitations/c2_hanging.mp4" type="video/mp4">
2644                    Your browser does not support the video tag.
2645                </video>
2646            </div>
2647            <div class="video-container">
2648                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2649                    <source src="static/videos/limitations/c_shoe.mp4" type="video/mp4">
2650                    Your browser does not support the video tag.
2651                </video>
2652            </div>
2653        </div>
2654    </div>
2655
2656    <h5 class=" is-5 has-text-left task-title" style="color: red;">Dynamics Gap</h5>
2657
2658      <div class="section task-section">
2659        <div class="sim2real-videos-row">
2660            <div class="videos-row">
2661                <div class="video-container">
2662                    <h4 class="text-baseline">Simulation</h4>
2663                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2664                        <source src="static/videos/limitations/sim_turn.mp4" type="video/mp4">
2665                        Your browser does not support the video tag.
2666                    </video>
2667                </div>
2668                <div class="video-container">
2669                    <h4 class="text-baseline">Real World</h4>
2670                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2671                        <source src="static/videos/limitations/real_turn.mp4" type="video/mp4">
2672                        Your browser does not support the video tag.
2673                    </video>
2674                </div>
2675            </div>
2676            <div class="videos-row">
2677                <div class="video-container">
2678                    <h4 class="text-baseline">Simulation</h4>
2679                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2680                        <source src="static/videos/limitations/sim_button.mp4" type="video/mp4">
2681                        Your browser does not support the video tag.
2682                    </video>
2683                </div>
2684                <div class="video-container">
2685                    <h4 class="text-baseline">Real World</h4>
2686                    <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2687                        <source src="static/videos/limitations/real_button.mp4" type="video/mp4">
2688                        Your browser does not support the video tag.
2689                    </video>
2690                </div>
2691            </div>
2692        </div>
2693    </div>
2694    <h5 class=" is-5 has-text-left task-title" style="color: red;">Representative Failure trajectories in the Real World</h5>
2695
2696    <div class="section task-section">
2697            <div class="video-container limitations-combined-video">
2698                <video  loading="lazy" preload="none"  muted loop playsinline class="interactive-video">
2699      
2699              <source src="static/videos/failure_main.mp4" type="video/mp4">
2700                    Your browser does not support the video tag.
2701                </video>
2702            </div>
2703        </div>
2704    </div>
2705
2706    
2707  </section>
2708  <!-- End Limitations Section -->
2709
2710
2711
2712</div>
2713</div>
2714<!-- Team Section -->
2715<section class="section team-section">
2716    <div class="container is-max-desktop">
2717        <h2 class="title has-text-centered">Team</h2>
2718        <div class="team-grid">
2719            <!-- Team Member 1 -->
2720            <div class="team-member">
2721                <div class="image-container">
2722                    <img src="static/team/yunchu.jpg" alt="Yunchu Zhang" class="is-rounded">
2723                </div>
2724                <p class="has-text-weight-bold mt-2 mb-0">Yunchu Zhang</p>
2725                <p class="is-size-7 ">University of Washington</p>
2726            </div>
2727            
2728            <!-- Team Member 2 -->
2729            <div class="team-member">
2730                <div class="image-container">
2731                    <img src="static/team/shubham.jpg" alt="Shubham Mittal" class="is-rounded">
2732                </div>
2733                <p class="has-text-weight-bold mt-2 mb-0">Shubham Mittal</p>
2734                <p class="is-size-7">University of Washington</p>
2735            </div>
2736            
2737            <!-- Team Member 3 -->
2738            <div class="team-member">
2739                <div class="image-container">
2740                    <img src="static/team/octi.jpeg" alt="Zhengyu Zhang" class="is-rounded">
2741                </div>
2742                <p class="has-text-weight-bold mt-2 mb-0">Zhengyu Zhang</p>
2743                <p class="is-size-7">University of Washington</p>
2744            </div>
2745            
2746            <!-- Team Member 4 -->
2747            <div class="team-member">
2748                <div class="image-container">
2749                    <img src="static/team/liyiming.png" alt="Liyiming Ke" class="is-rounded">
2750                </div>
2751                <p class="has-text-weight-bold mt-2 mb-0">Liyiming Ke</p>
2752                <p class="is-size-7">University of Washington</p>
2753            </div>
2754            
2755            <!-- Team Member 5 -->
2756            <div class="team-member">
2757                <div class="image-container">
2758                    <img src="static/team/sidd.jpg" alt="Siddhartha Srinivasa" class="is-rounded">
2759                </div>
2760                <p class="has-text-weight-bold mt-2 mb-0">Siddhartha Srinivasa</p>
2761                <p class="is-size-7">University of Washington</p>
2762            </div>
2763            
2764            <!-- Team Member 6 -->
2765            <div class="team-member">
2766                <div class="image-container">
2767                    <img src="static/team/abhishek.jpeg" alt="Abhishek Gupta" class="is-rounded">
2768                </div>
2769                <p class="has-text-weight-bold mt-2 mb-0">Abhishek Gupta</p>
2770                <p class="is-size-7">University of Washington</p>
2771            </div>
2772        </div>
2773    </div>
2774</section>
2775<!-- End Team Section -->
2776
2777<section class="section" id="BibTeX" style="display: flex; justify-content: center; align-items: center;">
2778    <div class="container is-max-desktop content has-text-centered">
2779        <h2 class="title has-text-centered">BibTeX</h2>
2780        <pre style="text-align: center; overflow-x: auto; white-space: pre-wrap; word-wrap: break-word;">
2781            <code style="text-align: left; display: inline-block; background-color: #fbfbfb; padding: 1rem; border-radius: 5px; box-shadow: 0 2px 5px rgba(0, 0, 0, 0.1);">
2782@misc{zhang2025atkautomatictaskdrivenkeypoint,
2783    title={ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning}, 
2784    author={Yunchu Zhang and Shubham Mittal and Zhengyu Zhang and Liyiming Ke and Siddhartha Srinivasa and Abhishek Gupta},
2785    year={2025},
2786    eprint={2506.13867},
2787    archivePrefix={arXiv},
2788    primaryClass={cs.RO},
2789    url={https://arxiv.org/abs/2506.13867}, 
2790}
2791            </code>
2792        </pre>
2793    </div>
2794</section>
2795
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