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<!DOCTYPE html>
<html>
<head>
<title>D(R,O) Grasp</title>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<meta name="author" content="Zhenyu Wei">
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<!-- MathJax -->
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<script type="text/x-mathjax-config">
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tex2jax: {inlineMath: [['$','$'], ['\\(','\\)']]},
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</script>
<!-- visitor statistics -->
<script async src="//busuanzi.ibruce.info/busuanzi/2.3/busuanzi.pure.mini.js"></script>
<!-- model-viewer -->
<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/3.5.0/model-viewer.min.js"></script>
</head>
<body>
<!-- Title -->
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">$\small \mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object
Interaction for Cross-Embodiment Dexterous Grasping</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://zhenyuwei2003.github.io/">Zhenyu Wei</a><sup>1,2*</sup>,
</span>
<span class="author-block">
<a href="https://ariszxxu.github.io/">Zhixuan Xu</a><sup>1*</sup>,
</span>
<span class="author-block">
<a href="https://borisguo6.github.io">Jingxiang Guo</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://houyiwen.github.io/">Yiwen Hou</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://chongkaigao.com/">Chongkai Gao</a><sup>1</sup>,
</span>
<span class="author-block"></span>
Zhehao Cai<sup>1</sup>,
</span>
<span class="author-block"></span>
Jiayu Luo<sup>1</sup>,
</span>
<br>
<span class="author-block">
<a href="https://linsats.github.io/">Lin Shao</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<div>
<span class="author-block"><sup>1</sup>National University of Singapore,</span>
<span class="author-block"><sup>2</sup>Shanghai Jiao Tong University</span>
</div>
<div>
<span class="author-block">* denotes equal contribution</span>
</div>
<div>
<strong style="font-size: 24px;">
ICRA 2025
<br>
Best Robotics Paper Award @ CoRL 2024 MAPoDeL Workshop
</strong>
</div>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link -->
<span class="link-block">
<a href="https://arxiv.org/abs/2410.01702" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<span class="link-block">
<a href="./static/data/drograsp.pdf" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="./static/data/appendix.pdf" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Appendix</span>
</a>
</span>
<!-- Video Link -->
<!--
<span class="link-block">
<a href="#"
class="external-link button is-normal is-rounded is-dark">
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<span>Video</span>
</a>
</span>
-->
<!-- Code Link -->
<span class="link-block">
<a href="https://github.com/zhenyuwei2003/DRO-Grasp" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Dataset Link -->
<span class="link-block">
<a href="https://github.com/zhenyuwei2003/DRO-Grasp/releases/tag/v1.0" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>Data</span>
</a>
</span>
<!-- Poster Link -->
<span class="link-block">
<a href="./static/data/poster-CoRL.png" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fa-solid fa-file-lines"></i>
</span>
<span>Poster (CoRL)</span>
</a>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- Intro Video -->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video id="intro" controls playsinline height="100%" class="video-with-border">
<source src="./static/data/intro_video.mp4" type="video/mp4">
</video>
</div>
</div>
</section>
<!--/ Intro Video -->
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation,
requiring precise interaction between robotic hands and objects. In this paper, we
present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the interaction
between the robotic hand in its grasping pose and the object, enabling broad
generalization across various robot hands and object geometries. Our model takes
the robot hand’s description and object point cloud as inputs and efficiently
predicts kinematically valid and stable grasps, demonstrating strong adapt ability
to diverse robot embodiments and object geometries. Extensive experiments conducted
in both simulated and real world environments validate the effectiveness of our
approach, with significant improvements in success rate, grasp diversity, and
inference speed across multiple robotic hands. Our method achieves an average
success rate of 87.53% in simulation in less than one second, tested on three
different dexterous robotic hands, and also performs successfully in real-world
experiments using LeapHand. $\mathcal{D(R,O)}$ Grasp provides a robust solution for
dexterous grasping in complex and varied environments.
</p>
</div>
</div>
</div>
<!--/ Abstract -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Overview -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Pipeline Overview</h2>
<div class="content has-text-justified">
<figure>
<img src="./static/image/pipeline.png" alt="Overview of D(R,O) Grasp framework">
<figcaption style="font-style: normal; font-size: 0.95em;">Overview of $\mathcal{D(R,O)}$ Grasp: We first pretrain the robot encoder with the proposed configuration-invariant
pretraining method. Then, we predict the $\mathcal{D(R,O)}$ representation between the robot and object point cloud. Finally, we
extract joint values from the $\mathcal{D(R,O)}$ representation.</figcaption>
</figure>
</div>
</div>
</div>
<!--/ Overview -->
</div>
</section>
<!-- Simulation Grasps -->
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column">
<h2 class="title is-3 has-text-centered">Simulation Grasps</h2>
</div>
</div>
<div class="columns is-centered has-text-centered">
<!-- Model Viewer 1 for Barrett -->
<div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
<model-viewer
id="modelViewer1"
src="static/data/3dmodel/Barrett/contactdb+apple/0.glb"
alt="Barrett Grasp"
ar
camera-controls
auto-rotate
auto-rotate-delay="1000"
interaction-prompt-threshold="2000"
style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
</model-viewer>
<p style="font-size: 20px; font-weight: bold;">Barrett</p>
</div>
<!-- Model Viewer 2 for Allegro -->
<div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
<model-viewer
id="modelViewer2"
src="static/data/3dmodel/Allegro/contactdb+apple/0.glb"
alt="Allegro Grasp"
ar
camera-controls
auto-rotate
auto-rotate-delay="1000"
interaction-prompt-threshold="2000"
style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
</model-viewer>
<p style="font-size: 20px; font-weight: bold;">Allegro</p>
</div>
<!-- Model Viewer 3 for ShadowHand -->
<div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
<model-viewer
id="modelViewer3"
src="static/data/3dmodel/ShadowHand/contactdb+apple/0.glb"
alt="ShadowHand Grasp"
ar
camera-controls
auto-rotate
auto-rotate-delay="1000"
interaction-prompt-threshold="2000"
style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
</model-viewer>
<p style="font-size: 20px; font-weight: bold;">ShadowHand</p>
</div>
<!-- Controls for Object and Grasp ID -->
<div class="column is-one-quarter">
<!-- Object Name Dropdown -->
<div class="dropdown-container" style="text-align: center; margin-top: 10px; margin-bottom: 20px;">
<label for="objectName" style="font-size: 20px; font-weight: bold;">Object Name</label>
<select id="objectName" class="custom-select" style="width: 200px; margin-top: 10px;">
<option value="contactdb+apple" style="font-size: 14px;">contactdb+apple</option>
<option value="contactdb+camera" style="font-size: 14px;">contactdb+camera</option>
<option value="contactdb+cylinder_medium" style="font-size: 14px;">contactdb+cylinder_medium</option>
<option value="contactdb+rubber_duck" style="font-size: 14px;">contactdb+rubber_duck</option>
<option value="contactdb+door_knob" style="font-size: 14px;">contactdb+door_knob</option>
<option value="contactdb+water_bottle" style="font-size: 14px;">contactdb+water_bottle</option>
<option value="ycb+baseball" style="font-size: 14px;">ycb+baseball</option>
<option value="ycb+pear" style="font-size: 14px;">ycb+pear</option>
<option value="ycb+potted_meat_can" style="font-size: 14px;">ycb+potted_meat_can</option>
<option value="ycb+tomato_soup_can" style="font-size: 14px;">ycb+tomato_soup_can</option>
</select>
</div>
<script>
function adjustSelectedFontSize() {
const selectElement = document.getElementById("objectName");
const selectedText = selectElement.options[selectElement.selectedIndex].text;
const fontSize = Math.min(16, 320 / selectedText.length);
selectElement.style.fontSize = fontSize + "px";
const paddingSize = (32 - fontSize) / 2
selectElement.style.paddingTop = paddingSize + "px";
selectElement.style.paddingBottom = paddingSize + "px";
}
window.onload = adjustSelectedFontSize;
document.getElementById("objectName").addEventListener("change", adjustSelectedFontSize);
</script>
<!-- Grasp ID and Slider -->
<div class="slider-container" style="display: flex; flex-direction: column; align-items: center; text-align: center;">
<div style="font-size: 20px; font-weight: bold; margin-bottom: 10px;">
Grasp ID:
<span id="graspIDLabel">0</span>
</div>
<input type="range" id="graspID" name="graspID" min="0" max="9" value="0" style="width: 200px; height: 15px;">
</div>
</div>
</div>
</div>
</section>
<script>
const modelViewer1 = document.getElementById('modelViewer1');
const modelViewer2 = document.getElementById('modelViewer2');
const modelViewer3 = document.getElementById('modelViewer3');
const objectNameSelect = document.getElementById('objectName');
const graspIDSlider = document.getElementById('graspID');
const graspIDLabel = document.getElementById('graspIDLabel');
const robotNames = ["Barrett", "Allegro", "ShadowHand"];
function updateModel() {
const selectedObject = objectNameSelect.value;
const selectedGraspID = graspIDSlider.value;
graspIDLabel.textContent = selectedGraspID;
modelViewer1.src = `static/data/3dmodel/Barrett/${selectedObject}/${selectedGraspID}.glb`;
modelViewer2.src = `static/data/3dmodel/Allegro/${selectedObject}/${selectedGraspID}.glb`;
modelViewer3.src = `static/data/3dmodel/ShadowHand/${selectedObject}/${selectedGraspID}.glb`;
}
objectNameSelect.addEventListener('change', updateModel);
graspIDSlider.addEventListener('input', updateModel);
</script>
<!--/ Simulation Grasps -->
<!-- Partial Observation Grasps -->
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column">
<h2 class="title is-3 has-text-centered">Partial Observation Grasps</h2>
</div>
</div>
<div class="columns is-centered has-text-centered">
<!-- Model Viewer for mesh -->
<div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
<model-viewer
id="modelViewer_mesh"
src="static/data/partial/Barrett_contactdb+apple_mesh.glb"
alt="Grasp"
ar
camera-controls
auto-rotate
auto-rotate-delay="1000"
interaction-prompt-threshold="2000"
style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
</model-viewer>
<p style="font-size: 20px; font-weight: bold;">Grasp</p>
</div>
<!-- Model Viewer for pc -->
<div class="column is-one-quarter" style="display: flex; flex-direction: column; align-items: center;">
<model-viewer
id="modelViewer_pc"
src="static/data/partial/Barrett_contactdb+apple_pc.glb"
alt="Observation"
ar
camera-controls
auto-rotate
auto-rotate-delay="1000"
interaction-prompt-threshold="2000"
style="width: 200px; height: 200px; border: 3px solid #66c0ff; border-radius: 15px;">
</model-viewer>
<p style="font-size: 20px; font-weight: bold;">Observation</p>
</div>
<!-- Controls for Object and Grasp ID -->
<div class="column is-one-quarter">
<!-- Robot Name Dropdown -->
<div class="dropdown-container" style="text-align: center; margin-top: 10px; margin-bottom: 20px;">
<label for="robotNameP" style="font-size: 20px; font-weight: bold;">Robot Name</label>
<select id="robotNameP" class="custom-select" style="width: 200px; margin-top: 10px;">
<option value="Barrett" style="font-size: 14px;">Barrett</option>
<option value="Allegro" style="font-size: 14px;">Allegro</option>
<option value="ShadowHand" style="font-size: 14px;">ShadowHand</option>
</select>
</div>
<!-- Object Name Dropdown -->
<div class="dropdown-container" style="text-align: center; margin-top: 10px; margin-bottom: 20px;">
<label for="objectNameP" style="font-size: 20px; font-weight: bold;">Object Name</label>
<select id="objectNameP" class="custom-select" style="width: 200px; margin-top: 10px;">
<option value="contactdb+apple" style="font-size: 14px;">contactdb+apple</option>
<option value="contactdb+camera" style="font-size: 14px;">contactdb+camera</option>
<option value="contactdb+cylinder_medium" style="font-size: 14px;">contactdb+cylinder_medium</option>
<option value="contactdb+rubber_duck" style="font-size: 14px;">contactdb+rubber_duck</option>
<option value="contactdb+door_knob" style="font-size: 14px;">contactdb+door_knob</option>
<option value="contactdb+water_bottle" style="font-size: 14px;">contactdb+water_bottle</option>
<option value="ycb+baseball" style="font-size: 14px;">ycb+baseball</option>
<option value="ycb+pear" style="font-size: 14px;">ycb+pear</option>
<option value="ycb+potted_meat_can" style="font-size: 14px;">ycb+potted_meat_can</option>
<option value="ycb+tomato_soup_can" style="font-size: 14px;">ycb+tomato_soup_can</option>
</select>
</div>
<script>
function adjustSelectedFontSizeP() {
const selectElement = document.getElementById("objectNameP");
const selectedText = selectElement.options[selectElement.selectedIndex].text;
const fontSize = Math.min(16, 320 / selectedText.length);
selectElement.style.fontSize = fontSize + "px";
const paddingSize = (32 - fontSize) / 2
selectElement.style.paddingTop = paddingSize + "px";
selectElement.style.paddingBottom = paddingSize + "px";
}
window.onload = adjustSelectedFontSizeP;
document.getElementById("objectNameP").addEventListener("change", adjustSelectedFontSizeP);
</script>
</div>
</div>
</div>
</section>
<script>
const modelViewer_mesh = document.getElementById('modelViewer_mesh');
const modelViewer_pc = document.getElementById('modelViewer_pc');
const robotNameSelectP = document.getElementById('robotNameP');
const objectNameSelectP = document.getElementById('objectNameP');
function updateModel() {
const selectedRobot = robotNameSelectP.value;
const selectedObject = objectNameSelectP.value;
modelViewer_mesh.src = `static/data/partial/${selectedRobot}_${selectedObject}_mesh.glb`;
modelViewer_pc.src = `static/data/partial/${selectedRobot}_${selectedObject}_pc.glb`;
}
robotNameSelectP.addEventListener('change', updateModel);
objectNameSelectP.addEventListener('change', updateModel);
</script>
<!--/ Partial Observation Grasps -->
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column">
<h2 class="title is-3 has-text-centered">Real-world Demos</h2>
</div>
</div>
<div class="columns is-centered has-text-centered">
<section class="video-section" style="display: flex; padding: 20px;">
<div class="main-video-container" style="flex: 2; margin-top: 25px; margin-right: 50px; text-align: center;">
<video id="main-video" autoplay muted loop playsinline style="width: 700px;" class="video-with-border">
<source src="static/data/realworld/dinosaur.mp4" type="video/mp4">
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</video>
</div>
<div class="covers-container" style="flex: 1; overflow-y: auto; height: 600px; display: flex; flex-direction: column; align-items: center;">
<div class="video-cover" onclick="changeVideo('static/data/realworld/apple.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/apple_cover.png" alt="Apple Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Apple</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/bag.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/bag_cover.png" alt="Bag Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Bag</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/brush.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/brush_cover.png" alt="Brush Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Brush</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/cookie_box.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/cookie_box_cover.png" alt="Cookie Box Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Cookie Box</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/cube.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/cube_cover.png" alt="Cube Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Cube</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/cup.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/cup_cover.png" alt="Cup Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Cup</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/dinosaur.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/dinosaur_cover.png" alt="Dinosaur Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Dinosaur</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/duck.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/duck_cover.png" alt="Duck Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Duck</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/tea_box.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/tea_box_cover.png" alt="Tea Box Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Tea Box</p>
</div>
<div class="video-cover" onclick="changeVideo('static/data/realworld/toilet_cleaner.mp4')" style="margin-bottom: 10px; cursor: pointer;">
<img src="static/data/realworld/toilet_cleaner_cover.png" alt="Toilet Cleaner Cover" style="width: 120px; height: 120px;">
<p style="text-align: center;">Toilet Cleaner</p>
</div>
</div>
</section>
</div>
</div>
</section>
<script>
function changeVideo(videoSrc) {
const mainVideo = document.getElementById('main-video');
mainVideo.src = videoSrc;
mainVideo.muted = true;
mainVideo.loop = true;
mainVideo.load();
mainVideo.play();
}
</script>
<!-- BibTex -->
<section class="section" id="BibTeX">
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<h2 class="title">BibTeX</h2>
<pre><code>@article{wei2024dro,
title={D(R,O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping},
author={Wei, Zhenyu and Xu, Zhixuan and Guo, Jingxiang and Hou, Yiwen and Gao, Chongkai and Cai, Zhehao and Luo, Jiayu and Shao, Lin},
journal={arXiv preprint arXiv:2410.01702},
year={2024}
}</code></pre>
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</section>
<!--/ BibTex -->
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