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BerkeleyAutomation · Mar 31, 2024 · c5e1bba · c5e1bba
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diff --git a/README.md b/README.md
@@ -1,16 +1,6 @@
 # Nerfies
 
-This is the repository that contains source code for the [Nerfies website](https://nerfies.github.io).
-
-If you find Nerfies useful for your work please cite:
-```
-@article{park2021nerfies
-  author    = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
-  title     = {Nerfies: Deformable Neural Radiance Fields},
-  journal   = {ICCV},
-  year      = {2021},
-}
-```
+This is the repository for the Automating Deformable Gasket Assembly pape website. 
 
 # Website License
 <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-sa/4.0/88x31.png" /></a><br />This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/">Creative Commons Attribution-ShareAlike 4.0 International License</a>.
diff --git a/index.html b/index.html
@@ -36,7 +36,7 @@
       <span aria-hidden="true"></span>
     </a>
   </div>
-  <div class="navbar-menu">
+  <!-- <div class="navbar-menu">
     <div class="navbar-start" style="flex-grow: 1; justify-content: center;">
       <a class="navbar-item" href="https://keunhong.com">
       <span class="icon">
@@ -63,7 +63,7 @@
           </a>
         </div>
       </div>
-    </div>
+    </div> -->
 
   </div>
 </nav>
@@ -255,31 +255,21 @@ <h2 class="subtitle has-text-centered">
         <h2 class="title is-3">Abstract</h2>
         <div class="content has-text-justified">
           <p>
-            We present the first method capable of photorealistically reconstructing a non-rigidly
-            deforming scene using photos/videos captured casually from mobile phones.
-          </p>
-          <p>
-            Our approach augments neural radiance fields
-            (NeRF) by optimizing an
-            additional continuous volumetric deformation field that warps each observed point into a
-            canonical 5D NeRF.
-            We observe that these NeRF-like deformation fields are prone to local minima, and
-            propose a coarse-to-fine optimization method for coordinate-based models that allows for
-            more robust optimization.
-            By adapting principles from geometry processing and physical simulation to NeRF-like
-            models, we propose an elastic regularization of the deformation field that further
-            improves robustness.
-          </p>
-          <p>
-            We show that <span class="dnerf">Nerfies</span> can turn casually captured selfie
-            photos/videos into deformable NeRF
-            models that allow for photorealistic renderings of the subject from arbitrary
-            viewpoints, which we dub <i>"nerfies"</i>. We evaluate our method by collecting data
-            using a
-            rig with two mobile phones that take time-synchronized photos, yielding train/validation
-            images of the same pose at different viewpoints. We show that our method faithfully
-            reconstructs non-rigidly deforming scenes and reproduces unseen views with high
-            fidelity.
+            In <span class="dnerf">Gasket Assembly</span>, a deformable gasket must be
+            aligned and pressed into a narrow channel. This task is common
+            for sealing surfaces in the manufacturing of automobiles,
+            appliances, electronics, and other products. <span class="dnerf">Gasket Assembly</span> is
+            a long-horizon, high-precision task and the gasket must align
+            with the channel and be fully pressed in to achieve a secure
+            fit. We present and compare 4 methods for <span class="dnerf">Gasket Assembly</span>:
+            one policy from deep imitation learning and three procedural
+            algorithms. We evaluate each using 3D printed channels with
+            100 physical trials. Results suggest that deep imitation learning
+            can fail (lowest quartile of alignment and insertion performance) 
+            on a straight channel in 2 of 10 trials, whereas a hybrid
+            procedural algorithm achieves highest quartile performance in
+            all 10 trials. The procedural algorithm also performs reliably
+            on a curved channel but poorly on a closed trapezoidal channel.
           </p>
         </div>
       </div>
@@ -406,34 +396,6 @@ <h3 class="title is-4">Re-rendering the input video</h3>
     </div>
     <!--/ Animation. -->
 
-
-    <!-- Concurrent Work. -->
-    <div class="columns is-centered">
-      <div class="column is-full-width">
-        <h2 class="title is-3">Related Links</h2>
-
-        <div class="content has-text-justified">
-          <p>
-            There's a lot of excellent work that was introduced around the same time as ours.
-          </p>
-          <p>
-            <a href="https://arxiv.org/abs/2104.09125">Progressive Encoding for Neural Optimization</a> introduces an idea similar to our windowed position encoding for coarse-to-fine optimization.
-          </p>
-          <p>
-            <a href="https://www.albertpumarola.com/research/D-NeRF/index.html">D-NeRF</a> and <a href="https://gvv.mpi-inf.mpg.de/projects/nonrigid_nerf/">NR-NeRF</a>
-            both use deformation fields to model non-rigid scenes.
-          </p>
-          <p>
-            Some works model videos with a NeRF by directly modulating the density, such as <a href="https://video-nerf.github.io/">Video-NeRF</a>, <a href="https://www.cs.cornell.edu/~zl548/NSFF/">NSFF</a>, and <a href="https://neural-3d-video.github.io/">DyNeRF</a>
-          </p>
-          <p>
-            There are probably many more by the time you are reading this. Check out <a href="https://dellaert.github.io/NeRF/">Frank Dellart's survey on recent NeRF papers</a>, and <a href="https://github.com/yenchenlin/awesome-NeRF">Yen-Chen Lin's curated list of NeRF papers</a>.
-          </p>
-        </div>
-      </div>
-    </div>
-    <!--/ Concurrent Work. -->
-
   </div>
 </section>
 
@@ -455,7 +417,7 @@ <h2 class="title">BibTeX</h2>
   <div class="container">
     <div class="content has-text-centered">
       <a class="icon-link"
-         href="./static/videos/nerfies_paper.pdf">
+         href="https://drive.google.com/file/d/1Pq9CUWn6sLcQ1JihqVsMx0T77W6v-z5k/view?usp=sharing">
         <i class="fas fa-file-pdf"></i>
       </a>
       <a class="icon-link" href="https://github.com/keunhong" class="external-link" disabled>