From d66e849b1bfc9d3c09cffdb8d7927529bef2341f Mon Sep 17 00:00:00 2001
From: Justin Yu <yujustin8@gmail.com>
Date: Wed, 20 Mar 2024 21:34:02 -0700
Subject: [PATCH] remove fluff

---
 index.html | 360 +----------------------------------------------------
 1 file changed, 2 insertions(+), 358 deletions(-)

diff --git a/index.html b/index.html
index bdfecac..f599a3f 100644
--- a/index.html
+++ b/index.html
@@ -14,21 +14,6 @@
     <meta charset="utf-8" />
     <title>MANIP: Integrating Interactive Perception into Long-Horizon Robot Manipulation Systems</title>
 
-    <!-- <meta content="Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries in 3D"
-        name="description" />
-    <meta content="LERF: Language Embedded Radiance Fields" property="og:title" />
-    <meta content="Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries in 3D"
-        property="og:description" />
-    <meta content="http://lerf.io/data/lerf_meta_img.jpg" property="og:image" />
-    <meta content="LERF: Language Embedded Radiance Fields" property="twitter:title" />
-    <meta content="Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries in 3D"
-        property="twitter:description" />
-    <meta content="http://lerf.io/data/lerf_meta_img.jpg" property="twitter:image" />
-    <meta property="og:type" content="website" />
-    <meta content="summary_large_image" name="twitter:card" />
-    <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1" /> -->
-
-
     <link href="https://fonts.googleapis.com" rel="preconnect" />
     <link href="https://fonts.gstatic.com" rel="preconnect" crossorigin="anonymous" />
     <script src="https://ajax.googleapis.com/ajax/libs/webfont/1.6.26/webfont.js" type="text/javascript"></script>
@@ -139,12 +124,7 @@ <h2 class="subheader">IROS 2024 (under review)</h1>
                 <div class="base-col icon-col"><a href="" class="link-block"><img
                             src="https://uploads-ssl.webflow.com/51e0d73d83d06baa7a00000f/5cae3b53b42ebb3dd4175a82_68747470733a2f2f7777772e69636f6e66696e6465722e636f6d2f646174612f69636f6e732f6f637469636f6e732f313032342f6d61726b2d6769746875622d3235362e706e67.png"
                             alt="paper" style="height: 60" class="icon-img github-img-icon" /></a></div>
-                <!-- TODO: Update data link -->
-                <!-- <div class="column-2 base-col icon-col"><a
-                        href="https://drive.google.com/drive/folders/1vh0mSl7v29yaGsxleadcj-LCZOE_WEWB?usp=sharing"
-                        target="_blank" class="link-block"><img
-                            src="https://uploads-ssl.webflow.com/51e0d73d83d06baa7a00000f/5e7136849ee3b0a0c6a95151_database.svg"
-                            alt="paper" class="icon-img data-img-icon" /></a></div> -->
+
             </div>
             <div class="link-labels base-row">
                 <div class="base-col icon-col">
@@ -153,9 +133,6 @@ <h2 class="subheader">IROS 2024 (under review)</h1>
                 <div class="base-col icon-col">
                     <strong class="link-labels-text">Code (Coming soon)</strong>
                 </div>
-                <!-- <div class="base-col icon-col">
-                    <strong class="link-labels-text">Data</strong>
-                </div> -->
             </div>
 
             <div class="link-labels base-row">
@@ -191,20 +168,7 @@ <h2 class="subheader">IROS 2024 (under review)</h1>
                 <div class="base-col icon-col">
                     <strong class="link-labels-text">Generic MANIP Diagram (Google Draw)</strong>
                 </div>
-                <!-- <div class="base-col icon-col">
-                    <strong class="link-labels-text">Data</strong>
-                </div> -->
             </div>
-            <!-- <h1 class="tldr">
-                <b>TL;DR</b>: -->
-                <!-- LERFs ground language embeddings from off-the-shelf models like CLIP into a NeRF, which enables open-ended language queries in 3D. -->
-                <!-- Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries -->
-                <!-- Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries in 3D -->
-                <!-- Enable natural language queries within a NeRF by densely embedding CLIP vectors inside -->
-            <!-- </h1> -->
-            <!-- <video id="main-video" autobuffer muted autoplay loop controls>
-                <source id="mp4" src="data/teaser.mp4" type="video/mp4">
-            </video> -->
             <figure>
                 <img src="MANIP_Diagram.png" style="width: 100%;" alt="Manip Diagram"/>
                 <figcaption>MANIP Diagram.</figcaption>
@@ -288,324 +252,4 @@ <h1 id="abstract">Overview</h1>
               // Initial button state update
               updateButtons();
               </script>
-            
-            <!-- <iframe src="exported_plot.html" width="900" height="800"></iframe> -->
-
-
-            <!-- <div class="base-row"> -->
-
-                <!-- <div class="base-row add-top-padding">
-                    <h1 class="tldr">
-                        <b>Click the thumbnails below to load scenes, use ON/OFF to toggle between RGB and 3D relevancy
-                            videos.</b>
-                    </h1>
-
-                </div> -->
-
-                <!-- <div id="main-results" onclick="play_pause()"> 
-                    <canvas id="canvas" width="960px" height="540px"></canvas>
-                    <canvas id="canvas-overlay" width="960px" height="540px"></canvas>
-                </div> -->
-
-                <!-- <div class="video-bar">
-                    <div id="opacity-col" class="base-col viewer-bar">
-                        <label class="switch">
-                            <input type="checkbox" id="opacity-toggle" checked>
-                            <span class="slider"></span>
-                            <span class="labels" data-on="ON" data-off="OFF"></span>
-                        </label>
-                    </div>
-                    <div class="base-col viewer-bar">
-                        <button id="play-btn" class="video-btn fa fa-lg fa-pause" onclick="play_pause()"></button>
-                    </div>
-                    <div class="base-col viewer-bar video-export">
-                        <button class="video-btn fa fa-arrows-alt fa-lg" onclick="fullscreen()"></button>
-                        <button class="video-btn fa fa-download fa-lg" onclick="download()"></button>
-                    </div>
-                </div> -->
-
-                <!-- <div class="base-row">
-                <h1 id="abstract">Interacting with LERF on hand-captured scenes</h1>
-                <p class="paragraph-center">
-                    Use ON/OFF to toggle between RGB renders and 3D relevancy maps!
-                </p>
-            </div> -->
-
-                <!-- <video id="main-video" autobuffer muted autoplay loop controls>
-                <source id="mp4" src="data/grid.mp4" type="video/mp4">
-            </video> -->
-
-                <!-- <div id="main-results" onclick="play_pause()">
-                    <canvas id="canvas"></canvas>
-                    <canvas id="canvas-overlay"></canvas>
-                </div> -->
-
-
-                <!-- <div class="base-row" style="display: inline-block">
-                    <button class="slide-arrow" id="slide-arrow-prev" onclick="slide_left()">
-                        &#8249;
-                    </button>
-                    <div class="base-row thumbnail-row" , id="thumbnails-scroll">
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-0">
-                                <img src="data/thumbnails/bouquet_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Bouquet
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-1">
-                                <img src="data/thumbnails/figurines_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Figurines
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-2">
-                                <img src="data/thumbnails/kitchen_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Kitchen
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-3">
-                                <img src="data/thumbnails/donuts_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Donuts
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-4">
-                                <img src="data/thumbnails/teatime_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Teatime
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-5">
-                                <img src="data/thumbnails/bookstore_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Bookstore
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-6">
-                                <img src="data/thumbnails/grocery_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Grocery
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-7">
-                                <img src="data/thumbnails/sunnyside_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Garden
-                            </button>
-                        </div>
-                        <div class="base-col thumbnail-col">
-                            <button class="thumbnail-btn" id="thumb-8">
-                                <img src="data/thumbnails/shoerack_thumbnail.jpg" alt="paper" class="thumbnails" />
-                                Shoes
-                            </button>
-                        </div>
-                    </div>
-                    <button class="slide-arrow" id="slide-arrow-next" onclick="slide_right()">
-                        &#8250;
-                    </button>
-                </div> -->
-
-                <!-- <div id="why-lerf">
-                    <h1> Why 3D CLIP embeddings?</h1>
-                    <p class="paragraph">
-                        With multi-view supervision, 3D CLIP embeddings are more robust to occlusion and
-                        viewpoint
-                        changes than 2D CLIP embeddings.
-                        3D CLIP embeddings also conform better to the 3D scene structure, giving them a crisper
-                        appearance.
-                    </p>
-                    <img id="pipeline-img" src="data/nerf_render.svg" />
-                    <img id="why-lerf-img" src="data/2d-3d-lerf-vert.jpg" />
-                </div>
-
-                <div class="base-row add-top-padding">
-                    <h1>Multi-scale supervision</h1>
-                    <p class="paragraph">
-                        To supervise language embeddings, we pre-compute an image pyramid of CLIP features for each
-                        training view.
-                        Then, each sampled ray during optimization is supervised by interpolating the CLIP embedding
-                        within
-                        this pyramid.
-                    </p>
-                </div>
-
-                <img id="clip-img" src="data/clip_features.svg" />
-                <img id="main-img" src="data/multi_scale_compare.jpg" />
-                <div class="base-row add-top-padding">
-                    <h1 id="abstract">DINO Regularization</h1>
-                    <p class="paragraph">
-                        Inspired by <a href="https://pfnet-research.github.io/distilled-feature-fields/">Distilled
-                            Feature
-                            Fields (DFF)</a>,
-                        we use <a href="https://dino-vit-features.github.io/">DINO</a> features to regularize CLIP
-                        features.
-                        This leads to qualitative improvements in object boundaries, as
-                        CLIP embeddings in 3D can be sensitive to floaters and regions with few views.
-                    </p>
-                </div>
-
-                <img id="main-img" src="data/dino_compare.jpg" />
-
-                <h1 id="abstract">LERF 🤝 ChatGPT</h1>
-                <div class="paragraph">
-                    Natural language interaction could allow LLMs to interrogate the 3D world.
-                    We show an illustrative example where ChatGPT provides language queries of objects to look for to
-                    clean a coffee spill.
-                </div>
-                <div class="paragraph"
-                    style="display: flex; align-items: top;background-color: rgb(248,248,248);margin-bottom:0px">
-                    <img src="data/ju_icon.webp" alt="question logo"
-                        style="width: 41px; height: 41px; margin-right: 30px;margin-top:1.25em;border-radius:3px;margin-left:20px">
-                    <div>
-                        <p>Imagine you're a robot in a kitchen tasked to clean, and somebody knocked over a pour-over
-                            full of grinds on the counter. Give a list of things to search for to clean it up, in the
-                            form "search: action".</p>
-                    </div>
-                </div>
-                <div class="paragraph"
-                    style="display: flex; align-items: top; margin-top: 00px;background-color: rgb(240,240,240)">
-                    <div style="margin-right:30px;margin-top:1.25em;margin-left:20px">
-                        <div style="background-color: rgb(16,163,127);padding:5px;border-radius:3px">
-                            <svg width="31" height="31" viewBox="0 0 41 41" fill="none"
-                                xmlns="http://www.w3.org/2000/svg" stroke-width="1.5" class="h-6 w-6">
-                                <path
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-                                    fill="white"></path>
-                            </svg>
-                        </div>
-                    </div>
-                    <div style="padding-right:10px">
-                        <p>As a robot in a kitchen tasked to clean and faced with a <span
-                                style="background-color:rgb(64, 224, 208);">pour-over full of grinds spilled on the
-                                counter</span>, here is a list of things to search for to clean it up, in the form of
-                            "search: action":</p>
-                        <ul style="padding-left: 0px">
-                            <li><span style="background-color: rgb(255, 255, 0);">Paper towel</span>: to blot up as much
-                                of the coffee grinds as possible</li>
-                            <li><span style="background-color: rgb(135, 206, 235);">Dustpan and brush</span>: to sweep
-                                up the coffee grinds that can't be absorbed with paper towels</li>
-                            <li><span style="background-color: rgb(144, 238, 144);">Baking soda</span>: to sprinkle over
-                                the stain and absorb any leftover coffee liquid</li>
-                            <li><span style="background-color: rgb(255, 160, 203);">Cleaning spray</span>: to clean and
-                                disinfect the counter after the coffee grinds have been removed</li>
-                            <li><span style="background-color: rgb(255, 165, 0);">Sponge or cloth</span>: to wipe down
-                                the counter with the cleaning spray and remove any stains</li>
-                            <li><span style="background-color: rgb(221, 160, 221);">Scrub brush</span>: to clean any
-                                remaining stains or residue left by the coffee grinds</li>
-                            <li><span style="background-color: rgb(255, 182, 193);">Vacuum cleaner</span>: if there are
-                                any coffee grinds that have spilled on the floor, a vacuum cleaner could be used to suck
-                                them up</li>
-                            <li><span style="background-color: rgb(210, 180, 140);">Trash can</span>: to dispose of the
-                                coffee grinds collected by the dustpan or vacuum cleaner</li>
-                            <li><span style="background-color: rgb(211, 211, 211);">Sink</span>: to rinse out the
-                                pour-over and dispose of the used coffee grinds in the compost or trash</li>
-                            <li><span style="background-color: rgb(238, 130, 238);">Cabinet or drawer</span>: to store
-                                the cleaning supplies after the spill has been cleaned up.</li>
-                        </ul>
-                    </div>
-                </div>
-                <div class="paragraph">
-                    Hover over each of the highlighted words to see LERF's relevancy maps for each response.
-                </div>
-
-                <div id="gpt-results">
-                    <div id="gpt-img-col">
-                        <img id="hover-image" src="data/gpt_example/base.jpg" style="width: 100%" alt="Default Image">
-                    </div>
-                    <div id="gpt-words">
-                        <div class="gpt-query" id="gpt-coffee" style="background-color: rgb(64, 224, 208);">... grinds
-                            spilled</div>
-                        <div class="gpt-query" id="gpt-paper" style="background-color: rgb(255, 255, 0);">Paper towel
-                        </div>
-
-                        <div class="gpt-query" id="gpt-brush" style="background-color: rgb(135, 206, 235);">Dustpan and
-                            brush</div>
-                        <div class="gpt-query" id="gpt-soda" style="background-color: rgb(144, 238, 144);">Baking soda
-                        </div>
-
-                        <div class="gpt-query" id="gpt-spray" style="background-color: rgb(255, 160, 203);">Cleaning
-                            spray</div>
-
-                        <div class="gpt-query" id="gpt-sponge" style="background-color: rgb(255, 165, 0);">Sponge or
-                            cloth
-                        </div>
-
-                        <div class="gpt-query" id="gpt-scrub" style="background-color: rgb(221, 160, 221);">Scrub brush
-                        </div>
-
-                        <div class="gpt-query" id="gpt-vacuum" style="background-color: rgb(255, 182, 193);">Vacuum
-                            cleaner</div>
-
-                        <div class="gpt-query" id="gpt-trash" style="background-color: rgb(210, 180, 140);">Trash can
-                        </div>
-
-                        <div class="gpt-query" id="gpt-sink" style="background-color: rgb(211, 211, 211);">Sink</div>
-
-                        <div class="gpt-query" id="gpt-cabinet-or-drawer" style="background-color: rgb(238, 130, 238);">
-                            Cabinet or
-                            drawer</div>
-                    </div>
-                </div>
-
-                <div class="base-row add-top-padding">
-                    <img src="data/nerfstudio_logo.png" alt="Nerfstudio" style="height: 5em; margin-top:2em" />
-                    <h1 id="abstract">
-                        <a id="coming_soon">Integration</a>
-                    </h1>
-                </div>
-                <video id="main-video" muted loop controls>
-                    <source id="mp4" src="data/lerf_interaction.mp4" type="video/mp4">
-                </video> -->
-
-                <!-- <div class="highlight-none notranslate"><div class="highlight"><pre id="codecell0"><span></span>@article{nerfstudio,
-                <div class="citation add-top-padding">
-                    <h1 id="abstract"> Citation </h1>
-                    <p> If you use this work or find it helpful, please consider citing: (bibtex) </p>
-                    <pre id="codecell0">@inproceedings{lerf2023,
-&nbsp;author = {Kerr, Justin* and Kim, Chung Min* and Goldberg, Ken and Kanazawa, Angjoo and Tancik, Matthew},
-&nbsp;title = {LERF: Language Embedded Radiance Fields},
-&nbsp;booktitle = {International Conference on Computer Vision (ICCV)},
-&nbsp;year = {2023},
-} </pre> -->
-                <!-- </div> -->
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