diff --git a/assets/jupyter/blog.ipynb.html b/assets/jupyter/blog.ipynb.html
index 6a0fcb961df0..21a36dabf59f 100644
--- a/assets/jupyter/blog.ipynb.html
+++ b/assets/jupyter/blog.ipynb.html
@@ -1,4 +1,4 @@
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diff --git a/blog/2024/tabs/index.html b/blog/2024/tabs/index.html
index 2f45d52b59c5..d6ab6bc2caeb 100644
--- a/blog/2024/tabs/index.html
+++ b/blog/2024/tabs/index.html
@@ -13,13 +13,13 @@
 <span class="cp">{%</span><span class="w"> </span><span class="nt">endtab</span><span class="w"> </span><span class="cp">%}</span>
 
 <span class="cp">{%</span><span class="w"> </span><span class="nt">endtabs</span><span class="w"> </span><span class="cp">%}</span>
-</code></pre></div></div> <p>With this you can generate visualizations like:</p> <ul id="log" class="tab" data-tab="e2b907b0-42cd-4cd2-8bb0-953f50c27ec2" data-name="log"> <li class="active" id="log-php"> <a href="#">php </a> </li> <li id="log-js"> <a href="#">js </a> </li> <li id="log-ruby"> <a href="#">ruby </a> </li> </ul> <ul class="tab-content" id="e2b907b0-42cd-4cd2-8bb0-953f50c27ec2" data-name="log"> <li class="active"> <div class="language-php highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">var_dump</span><span class="p">(</span><span class="s1">'hello'</span><span class="p">);</span>
+</code></pre></div></div> <p>With this you can generate visualizations like:</p> <ul id="log" class="tab" data-tab="dda1e2a7-b4f1-4ee4-8a14-e35b59c551ac" data-name="log"> <li class="active" id="log-php"> <a href="#">php </a> </li> <li id="log-js"> <a href="#">js </a> </li> <li id="log-ruby"> <a href="#">ruby </a> </li> </ul> <ul class="tab-content" id="dda1e2a7-b4f1-4ee4-8a14-e35b59c551ac" data-name="log"> <li class="active"> <div class="language-php highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">var_dump</span><span class="p">(</span><span class="s1">'hello'</span><span class="p">);</span>
 </code></pre></div></div> </li> <li> <div class="language-javascript highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nx">console</span><span class="p">.</span><span class="nf">log</span><span class="p">(</span><span class="dl">"</span><span class="s2">hello</span><span class="dl">"</span><span class="p">);</span>
 </code></pre></div></div> </li> <li> <div class="language-javascript highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nx">pputs</span> <span class="dl">'</span><span class="s1">hello</span><span class="dl">'</span>
-</code></pre></div></div> </li> </ul> <h2 id="another-example">Another example</h2> <ul id="data-struct" class="tab" data-tab="86f371a7-2641-4ac1-a2f0-e74487c63028" data-name="data-struct"> <li class="active" id="data-struct-yaml"> <a href="#">yaml </a> </li> <li id="data-struct-json"> <a href="#">json </a> </li> </ul> <ul class="tab-content" id="86f371a7-2641-4ac1-a2f0-e74487c63028" data-name="data-struct"> <li class="active"> <div class="language-yaml highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="na">hello</span><span class="pi">:</span>
+</code></pre></div></div> </li> </ul> <h2 id="another-example">Another example</h2> <ul id="data-struct" class="tab" data-tab="eac0551c-2bab-4618-b8e3-82989e6f176d" data-name="data-struct"> <li class="active" id="data-struct-yaml"> <a href="#">yaml </a> </li> <li id="data-struct-json"> <a href="#">json </a> </li> </ul> <ul class="tab-content" id="eac0551c-2bab-4618-b8e3-82989e6f176d" data-name="data-struct"> <li class="active"> <div class="language-yaml highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="na">hello</span><span class="pi">:</span>
   <span class="pi">-</span> <span class="s2">"</span><span class="s">whatsup"</span>
   <span class="pi">-</span> <span class="s2">"</span><span class="s">hi"</span>
 </code></pre></div></div> </li> <li> <div class="language-json highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="p">{</span><span class="w">
   </span><span class="nl">"hello"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span><span class="s2">"whatsup"</span><span class="p">,</span><span class="w"> </span><span class="s2">"hi"</span><span class="p">]</span><span class="w">
 </span><span class="p">}</span><span class="w">
-</span></code></pre></div></div> </li> </ul> <h2 id="tabs-for-something-else">Tabs for something else</h2> <ul id="something-else" class="tab" data-tab="5e5acb40-d40c-4f4d-9569-c8bb6d0cf1fb" data-name="something-else"> <li class="active" id="something-else-text"> <a href="#">text </a> </li> <li id="something-else-quote"> <a href="#">quote </a> </li> <li id="something-else-list"> <a href="#">list </a> </li> </ul> <ul class="tab-content" id="5e5acb40-d40c-4f4d-9569-c8bb6d0cf1fb" data-name="something-else"> <li class="active"> <p>Regular text</p> </li> <li> <blockquote> <p>A quote</p> </blockquote> </li> <li> <p>Hipster list</p> <ul> <li>brunch</li> <li>fixie</li> <li>raybans</li> <li>messenger bag</li> </ul> </li> </ul> </div> </article> <br> <hr> <br> <ul class="list-disc pl-8"></ul> <h2 class="text-3xl font-semibold mb-4 mt-12">Enjoy Reading This Article?</h2> <p class="mb-2">Here are some more articles you might like to read next:</p> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2021/distill/">a distill-style blog post</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2015/code/">a post with code</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2023/tables/">displaying beautiful tables with Bootstrap Tables</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2023/jupyter-notebook/">a post with jupyter notebook</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2024/code-diff/">a post with code diff</a> </li> </div> </div> <footer class="fixed-bottom" role="contentinfo"> <div class="container mt-0"> © Copyright 2024 Bo Ai </div> </footer> <script src="https://cdn.jsdelivr.net/npm/jquery@3.6.0/dist/jquery.min.js" integrity="sha256-/xUj+3OJU5yExlq6GSYGSHk7tPXikynS7ogEvDej/m4=" crossorigin="anonymous"></script> <script src="/assets/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/js/mdb.min.js" integrity="sha256-NdbiivsvWt7VYCt6hYNT3h/th9vSTL4EDWeGs5SN3DA=" crossorigin="anonymous"></script> <script defer src="https://cdn.jsdelivr.net/npm/masonry-layout@4.2.2/dist/masonry.pkgd.min.js" integrity="sha256-Nn1q/fx0H7SNLZMQ5Hw5JLaTRZp0yILA/FRexe19VdI=" crossorigin="anonymous"></script> <script defer src="https://cdn.jsdelivr.net/npm/imagesloaded@5.0.0/imagesloaded.pkgd.min.js" integrity="sha256-htrLFfZJ6v5udOG+3kNLINIKh2gvoKqwEhHYfTTMICc=" crossorigin="anonymous"></script> <script defer src="/assets/js/masonry.js" type="text/javascript"></script> <script defer src="https://cdn.jsdelivr.net/npm/medium-zoom@1.1.0/dist/medium-zoom.min.js" integrity="sha256-ZgMyDAIYDYGxbcpJcfUnYwNevG/xi9OHKaR/8GK+jWc=" crossorigin="anonymous"></script> <script defer src="/assets/js/zoom.js?85ddb88934d28b74e78031fd54cf8308"></script> <script src="/assets/js/no_defer.js?2781658a0a2b13ed609542042a859126"></script> <script defer src="/assets/js/common.js?b7816bd189846d29eded8745f9c4cf77"></script> <script defer src="/assets/js/copy_code.js?12775fdf7f95e901d7119054556e495f" type="text/javascript"></script> <script defer src="/assets/js/jupyter_new_tab.js?d9f17b6adc2311cbabd747f4538bb15f"></script> <script async src="https://d1bxh8uas1mnw7.cloudfront.net/assets/embed.js"></script> <script async src="https://badge.dimensions.ai/badge.js"></script> <script type="text/javascript">window.MathJax={tex:{tags:"ams"}};</script> <script defer type="text/javascript" id="MathJax-script" src="https://cdn.jsdelivr.net/npm/mathjax@3.2.0/es5/tex-mml-chtml.min.js"></script> <script defer src="https://cdnjs.cloudflare.com/polyfill/v3/polyfill.min.js?features=es6"></script> <script async src="https://www.googletagmanager.com/gtag/js?id=G-YDE6X29CCQ"></script> <script>function gtag(){window.dataLayer.push(arguments)}window.dataLayer=window.dataLayer||[],gtag("js",new Date),gtag("config","G-YDE6X29CCQ");</script> <script type="text/javascript">function progressBarSetup(){"max"in document.createElement("progress")?(initializeProgressElement(),$(document).on("scroll",function(){progressBar.attr({value:getCurrentScrollPosition()})}),$(window).on("resize",initializeProgressElement)):(resizeProgressBar(),$(document).on("scroll",resizeProgressBar),$(window).on("resize",resizeProgressBar))}function getCurrentScrollPosition(){return $(window).scrollTop()}function initializeProgressElement(){let e=$("#navbar").outerHeight(!0);$("body").css({"padding-top":e}),$("progress-container").css({"padding-top":e}),progressBar.css({top:e}),progressBar.attr({max:getDistanceToScroll(),value:getCurrentScrollPosition()})}function getDistanceToScroll(){return $(document).height()-$(window).height()}function resizeProgressBar(){progressBar.css({width:getWidthPercentage()+"%"})}function getWidthPercentage(){return getCurrentScrollPosition()/getDistanceToScroll()*100}const progressBar=$("#progress");window.onload=function(){setTimeout(progressBarSetup,50)};</script> <script src="/assets/js/tabs.min.js?b8748955e1076bbe0dabcf28f2549fdc"></script> </body> </html>
\ No newline at end of file
+</span></code></pre></div></div> </li> </ul> <h2 id="tabs-for-something-else">Tabs for something else</h2> <ul id="something-else" class="tab" data-tab="cc318ae7-3bf9-48bf-a1db-a7bcfde6a100" data-name="something-else"> <li class="active" id="something-else-text"> <a href="#">text </a> </li> <li id="something-else-quote"> <a href="#">quote </a> </li> <li id="something-else-list"> <a href="#">list </a> </li> </ul> <ul class="tab-content" id="cc318ae7-3bf9-48bf-a1db-a7bcfde6a100" data-name="something-else"> <li class="active"> <p>Regular text</p> </li> <li> <blockquote> <p>A quote</p> </blockquote> </li> <li> <p>Hipster list</p> <ul> <li>brunch</li> <li>fixie</li> <li>raybans</li> <li>messenger bag</li> </ul> </li> </ul> </div> </article> <br> <hr> <br> <ul class="list-disc pl-8"></ul> <h2 class="text-3xl font-semibold mb-4 mt-12">Enjoy Reading This Article?</h2> <p class="mb-2">Here are some more articles you might like to read next:</p> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2021/distill/">a distill-style blog post</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2015/code/">a post with code</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2023/tables/">displaying beautiful tables with Bootstrap Tables</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2023/jupyter-notebook/">a post with jupyter notebook</a> </li> <li class="my-2"> <a class="text-pink-700 underline font-semibold hover:text-pink-800" href="/blog/2024/code-diff/">a post with code diff</a> </li> </div> </div> <footer class="fixed-bottom" role="contentinfo"> <div class="container mt-0"> © Copyright 2024 Bo Ai </div> </footer> <script src="https://cdn.jsdelivr.net/npm/jquery@3.6.0/dist/jquery.min.js" integrity="sha256-/xUj+3OJU5yExlq6GSYGSHk7tPXikynS7ogEvDej/m4=" crossorigin="anonymous"></script> <script src="/assets/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/js/mdb.min.js" integrity="sha256-NdbiivsvWt7VYCt6hYNT3h/th9vSTL4EDWeGs5SN3DA=" crossorigin="anonymous"></script> <script defer src="https://cdn.jsdelivr.net/npm/masonry-layout@4.2.2/dist/masonry.pkgd.min.js" integrity="sha256-Nn1q/fx0H7SNLZMQ5Hw5JLaTRZp0yILA/FRexe19VdI=" crossorigin="anonymous"></script> <script defer src="https://cdn.jsdelivr.net/npm/imagesloaded@5.0.0/imagesloaded.pkgd.min.js" integrity="sha256-htrLFfZJ6v5udOG+3kNLINIKh2gvoKqwEhHYfTTMICc=" crossorigin="anonymous"></script> <script defer src="/assets/js/masonry.js" type="text/javascript"></script> <script defer src="https://cdn.jsdelivr.net/npm/medium-zoom@1.1.0/dist/medium-zoom.min.js" integrity="sha256-ZgMyDAIYDYGxbcpJcfUnYwNevG/xi9OHKaR/8GK+jWc=" crossorigin="anonymous"></script> <script defer src="/assets/js/zoom.js?85ddb88934d28b74e78031fd54cf8308"></script> <script src="/assets/js/no_defer.js?2781658a0a2b13ed609542042a859126"></script> <script defer src="/assets/js/common.js?b7816bd189846d29eded8745f9c4cf77"></script> <script defer src="/assets/js/copy_code.js?12775fdf7f95e901d7119054556e495f" type="text/javascript"></script> <script defer src="/assets/js/jupyter_new_tab.js?d9f17b6adc2311cbabd747f4538bb15f"></script> <script async src="https://d1bxh8uas1mnw7.cloudfront.net/assets/embed.js"></script> <script async src="https://badge.dimensions.ai/badge.js"></script> <script type="text/javascript">window.MathJax={tex:{tags:"ams"}};</script> <script defer type="text/javascript" id="MathJax-script" src="https://cdn.jsdelivr.net/npm/mathjax@3.2.0/es5/tex-mml-chtml.min.js"></script> <script defer src="https://cdnjs.cloudflare.com/polyfill/v3/polyfill.min.js?features=es6"></script> <script async src="https://www.googletagmanager.com/gtag/js?id=G-YDE6X29CCQ"></script> <script>function 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resizeProgressBar(){progressBar.css({width:getWidthPercentage()+"%"})}function getWidthPercentage(){return getCurrentScrollPosition()/getDistanceToScroll()*100}const progressBar=$("#progress");window.onload=function(){setTimeout(progressBarSetup,50)};</script> <script src="/assets/js/tabs.min.js?b8748955e1076bbe0dabcf28f2549fdc"></script> </body> </html>
\ No newline at end of file
diff --git a/feed.xml b/feed.xml
index edf3ac20d05f..d1cec43fb6e8 100644
--- a/feed.xml
+++ b/feed.xml
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?><feed xmlns="http://www.w3.org/2005/Atom" xml:lang="en"><generator uri="https://jekyllrb.com/" version="4.3.4">Jekyll</generator><link href="https://boai01.github.io/feed.xml" rel="self" type="application/atom+xml"/><link href="https://boai01.github.io/" rel="alternate" type="text/html" hreflang="en"/><updated>2024-09-16T20:51:41+00:00</updated><id>https://boai01.github.io/feed.xml</id><title type="html">Bo Ai</title><subtitle>Bo Ai is an incoming CSE Ph.D. student at UC San Diego, working on robotics and machine learning. He received his Bachelor&apos;s degree in CS and Statistics from the National University of Singapore (NUS) and was a visiting researcher intern at the Stanford Vision and Learning Lab (SVL). </subtitle><entry><title type="html">a post with tabs</title><link href="https://boai01.github.io/blog/2024/tabs/" rel="alternate" type="text/html" title="a post with tabs"/><published>2024-05-01T00:32:13+00:00</published><updated>2024-05-01T00:32:13+00:00</updated><id>https://boai01.github.io/blog/2024/tabs</id><content type="html" xml:base="https://boai01.github.io/blog/2024/tabs/"><![CDATA[<p>This is how a post with <a href="https://github.com/Ovski4/jekyll-tabs">tabs</a> looks like. Note that the tabs could be used for different purposes, not only for code.</p> <h2 id="first-tabs">First tabs</h2> <p>To add tabs, use the following syntax:</p> <div class="language-liquid highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="cp">{%</span><span class="w"> </span><span class="nt">tabs</span><span class="w"> </span><span class="nv">group-name</span><span class="w"> </span><span class="cp">%}</span>
+<?xml version="1.0" encoding="utf-8"?><feed xmlns="http://www.w3.org/2005/Atom" xml:lang="en"><generator uri="https://jekyllrb.com/" version="4.3.4">Jekyll</generator><link href="https://boai01.github.io/feed.xml" rel="self" type="application/atom+xml"/><link href="https://boai01.github.io/" rel="alternate" type="text/html" hreflang="en"/><updated>2024-09-16T23:39:26+00:00</updated><id>https://boai01.github.io/feed.xml</id><title type="html">Bo Ai</title><subtitle>Bo Ai is an incoming CSE Ph.D. student at UC San Diego, working on robotics and machine learning. He received his Bachelor&apos;s degree in CS and Statistics from the National University of Singapore (NUS) and was a visiting researcher intern at the Stanford Vision and Learning Lab (SVL). </subtitle><entry><title type="html">a post with tabs</title><link href="https://boai01.github.io/blog/2024/tabs/" rel="alternate" type="text/html" title="a post with tabs"/><published>2024-05-01T00:32:13+00:00</published><updated>2024-05-01T00:32:13+00:00</updated><id>https://boai01.github.io/blog/2024/tabs</id><content type="html" xml:base="https://boai01.github.io/blog/2024/tabs/"><![CDATA[<p>This is how a post with <a href="https://github.com/Ovski4/jekyll-tabs">tabs</a> looks like. Note that the tabs could be used for different purposes, not only for code.</p> <h2 id="first-tabs">First tabs</h2> <p>To add tabs, use the following syntax:</p> <div class="language-liquid highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="cp">{%</span><span class="w"> </span><span class="nt">tabs</span><span class="w"> </span><span class="nv">group-name</span><span class="w"> </span><span class="cp">%}</span>
 
 <span class="cp">{%</span><span class="w"> </span><span class="nt">tab</span><span class="w"> </span><span class="nv">group-name</span><span class="w"> </span><span class="nv">tab-name-1</span><span class="w"> </span><span class="cp">%}</span>
 
@@ -13,16 +13,16 @@ Content 2
 <span class="cp">{%</span><span class="w"> </span><span class="nt">endtab</span><span class="w"> </span><span class="cp">%}</span>
 
 <span class="cp">{%</span><span class="w"> </span><span class="nt">endtabs</span><span class="w"> </span><span class="cp">%}</span>
-</code></pre></div></div> <p>With this you can generate visualizations like:</p> <ul id="log" class="tab" data-tab="e2b907b0-42cd-4cd2-8bb0-953f50c27ec2" data-name="log"> <li class="active" id="log-php"> <a href="#">php </a> </li> <li id="log-js"> <a href="#">js </a> </li> <li id="log-ruby"> <a href="#">ruby </a> </li> </ul> <ul class="tab-content" id="e2b907b0-42cd-4cd2-8bb0-953f50c27ec2" data-name="log"> <li class="active"> <div class="language-php highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">var_dump</span><span class="p">(</span><span class="s1">'hello'</span><span class="p">);</span>
+</code></pre></div></div> <p>With this you can generate visualizations like:</p> <ul id="log" class="tab" data-tab="dda1e2a7-b4f1-4ee4-8a14-e35b59c551ac" data-name="log"> <li class="active" id="log-php"> <a href="#">php </a> </li> <li id="log-js"> <a href="#">js </a> </li> <li id="log-ruby"> <a href="#">ruby </a> </li> </ul> <ul class="tab-content" id="dda1e2a7-b4f1-4ee4-8a14-e35b59c551ac" data-name="log"> <li class="active"> <div class="language-php highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nb">var_dump</span><span class="p">(</span><span class="s1">'hello'</span><span class="p">);</span>
 </code></pre></div></div> </li> <li> <div class="language-javascript highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nx">console</span><span class="p">.</span><span class="nf">log</span><span class="p">(</span><span class="dl">"</span><span class="s2">hello</span><span class="dl">"</span><span class="p">);</span>
 </code></pre></div></div> </li> <li> <div class="language-javascript highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="nx">pputs</span> <span class="dl">'</span><span class="s1">hello</span><span class="dl">'</span>
-</code></pre></div></div> </li> </ul> <h2 id="another-example">Another example</h2> <ul id="data-struct" class="tab" data-tab="86f371a7-2641-4ac1-a2f0-e74487c63028" data-name="data-struct"> <li class="active" id="data-struct-yaml"> <a href="#">yaml </a> </li> <li id="data-struct-json"> <a href="#">json </a> </li> </ul> <ul class="tab-content" id="86f371a7-2641-4ac1-a2f0-e74487c63028" data-name="data-struct"> <li class="active"> <div class="language-yaml highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="na">hello</span><span class="pi">:</span>
+</code></pre></div></div> </li> </ul> <h2 id="another-example">Another example</h2> <ul id="data-struct" class="tab" data-tab="eac0551c-2bab-4618-b8e3-82989e6f176d" data-name="data-struct"> <li class="active" id="data-struct-yaml"> <a href="#">yaml </a> </li> <li id="data-struct-json"> <a href="#">json </a> </li> </ul> <ul class="tab-content" id="eac0551c-2bab-4618-b8e3-82989e6f176d" data-name="data-struct"> <li class="active"> <div class="language-yaml highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="na">hello</span><span class="pi">:</span>
   <span class="pi">-</span> <span class="s2">"</span><span class="s">whatsup"</span>
   <span class="pi">-</span> <span class="s2">"</span><span class="s">hi"</span>
 </code></pre></div></div> </li> <li> <div class="language-json highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="p">{</span><span class="w">
   </span><span class="nl">"hello"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span><span class="s2">"whatsup"</span><span class="p">,</span><span class="w"> </span><span class="s2">"hi"</span><span class="p">]</span><span class="w">
 </span><span class="p">}</span><span class="w">
-</span></code></pre></div></div> </li> </ul> <h2 id="tabs-for-something-else">Tabs for something else</h2> <ul id="something-else" class="tab" data-tab="5e5acb40-d40c-4f4d-9569-c8bb6d0cf1fb" data-name="something-else"> <li class="active" id="something-else-text"> <a href="#">text </a> </li> <li id="something-else-quote"> <a href="#">quote </a> </li> <li id="something-else-list"> <a href="#">list </a> </li> </ul> <ul class="tab-content" id="5e5acb40-d40c-4f4d-9569-c8bb6d0cf1fb" data-name="something-else"> <li class="active"> <p>Regular text</p> </li> <li> <blockquote> <p>A quote</p> </blockquote> </li> <li> <p>Hipster list</p> <ul> <li>brunch</li> <li>fixie</li> <li>raybans</li> <li>messenger bag</li> </ul> </li> </ul>]]></content><author><name></name></author><category term="sample-posts"/><category term="formatting"/><category term="code"/><summary type="html"><![CDATA[this is what included tabs in a post could look like]]></summary></entry><entry><title type="html">a post with typograms</title><link href="https://boai01.github.io/blog/2024/typograms/" rel="alternate" type="text/html" title="a post with typograms"/><published>2024-04-29T23:36:10+00:00</published><updated>2024-04-29T23:36:10+00:00</updated><id>https://boai01.github.io/blog/2024/typograms</id><content type="html" xml:base="https://boai01.github.io/blog/2024/typograms/"><![CDATA[<p>This is an example post with some <a href="https://github.com/google/typograms/">typograms</a> code.</p> <div class="language-markdown highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="p">```</span><span class="nl">typograms
+</span></code></pre></div></div> </li> </ul> <h2 id="tabs-for-something-else">Tabs for something else</h2> <ul id="something-else" class="tab" data-tab="cc318ae7-3bf9-48bf-a1db-a7bcfde6a100" data-name="something-else"> <li class="active" id="something-else-text"> <a href="#">text </a> </li> <li id="something-else-quote"> <a href="#">quote </a> </li> <li id="something-else-list"> <a href="#">list </a> </li> </ul> <ul class="tab-content" id="cc318ae7-3bf9-48bf-a1db-a7bcfde6a100" data-name="something-else"> <li class="active"> <p>Regular text</p> </li> <li> <blockquote> <p>A quote</p> </blockquote> </li> <li> <p>Hipster list</p> <ul> <li>brunch</li> <li>fixie</li> <li>raybans</li> <li>messenger bag</li> </ul> </li> </ul>]]></content><author><name></name></author><category term="sample-posts"/><category term="formatting"/><category term="code"/><summary type="html"><![CDATA[this is what included tabs in a post could look like]]></summary></entry><entry><title type="html">a post with typograms</title><link href="https://boai01.github.io/blog/2024/typograms/" rel="alternate" type="text/html" title="a post with typograms"/><published>2024-04-29T23:36:10+00:00</published><updated>2024-04-29T23:36:10+00:00</updated><id>https://boai01.github.io/blog/2024/typograms</id><content type="html" xml:base="https://boai01.github.io/blog/2024/typograms/"><![CDATA[<p>This is an example post with some <a href="https://github.com/google/typograms/">typograms</a> code.</p> <div class="language-markdown highlighter-rouge"><div class="highlight"><pre class="highlight"><code><span class="p">```</span><span class="nl">typograms
 </span><span class="sb">+----+
 |    |---&gt; My first diagram!
 +----+</span>
diff --git a/index.html b/index.html
index 6a13049efc02..c309fb2e8a1b 100644
--- a/index.html
+++ b/index.html
@@ -1,4 +1,4 @@
-<!DOCTYPE html> <html lang="en"> <head> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> <meta charset="utf-8"> <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no"> <meta http-equiv="X-UA-Compatible" content="IE=edge"> <title> Bo Ai </title> <meta name="author" content="Bo Ai"> <meta name="description" content="Bo Ai is an incoming CSE Ph.D. student at UC San Diego, working on robotics and machine learning. He received his Bachelor's degree in CS and Statistics from the National University of Singapore (NUS) and was a visiting researcher intern at the Stanford Vision and Learning Lab (SVL). "> <meta name="keywords" content="robotics, machine learning, artificial intelligence"> <link rel="stylesheet" href="/assets/css/bootstrap.min.css?a4b3f509e79c54a512b890d73235ef04"> <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/css/mdb.min.css" integrity="sha256-jpjYvU3G3N6nrrBwXJoVEYI/0zw8htfFnhT9ljN3JJw=" crossorigin="anonymous"> <link defer rel="stylesheet" href="/assets/css/academicons.min.css?f0b7046b84e425c55f3463ac249818f5"> <link defer rel="stylesheet" type="text/css" href="https://fonts.googleapis.com/css?family=Roboto:300,400,500,700|Roboto+Slab:100,300,400,500,700|Material+Icons&amp;display=swap"> <link defer rel="stylesheet" href="/assets/css/jekyll-pygments-themes-github.css?591dab5a4e56573bf4ef7fd332894c99" media="" id="highlight_theme_light"> <link rel="shortcut icon" href="/assets/img/ucsd-logo.png?ccd154eecfbaa8871c35216e4979e7b5"> <link rel="stylesheet" href="/assets/css/main.css?d41d8cd98f00b204e9800998ecf8427e"> <link rel="canonical" href="https://boai01.github.io/"> <script src="/assets/js/theme.js?a5ca4084d3b81624bcfa01156dae2b8e"></script> <link defer rel="stylesheet" href="/assets/css/jekyll-pygments-themes-native.css?5847e5ed4a4568527aa6cfab446049ca" media="none" id="highlight_theme_dark"> <script>initTheme();</script> </head> <body class="fixed-top-nav "> <header> <nav id="navbar" class="navbar navbar-light navbar-expand-sm fixed-top" role="navigation"> <div class="container"> <button class="navbar-toggler collapsed ml-auto" type="button" data-toggle="collapse" data-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation"> <span class="sr-only">Toggle navigation</span> <span class="icon-bar top-bar"></span> <span class="icon-bar middle-bar"></span> <span class="icon-bar bottom-bar"></span> </button> <div class="collapse navbar-collapse text-right" id="navbarNav"> <ul class="navbar-nav ml-auto flex-nowrap"> <li class="nav-item active"> <a class="nav-link" href="/">About <span class="sr-only">(current)</span> </a> </li> <li class="nav-item "> <a class="nav-link" href="/publications/">Research </a> </li> <li class="nav-item "> <a class="nav-link" href="/teaching/">Teaching </a> </li> <li class="nav-item "> <a class="nav-link" href="/cv/">CV </a> </li> <li class="toggle-container"> <button id="light-toggle" title="Change theme"> <i class="ti ti-sun-moon" id="light-toggle-system"></i> <i class="ti ti-moon-filled" id="light-toggle-dark"></i> <i class="ti ti-sun-filled" id="light-toggle-light"></i> </button> </li> </ul> </div> </div> </nav> <progress id="progress" value="0"> <div class="progress-container"> <span class="progress-bar"></span> </div> </progress> </header> <div class="container mt-5" role="main"> <div class="post"> <header class="post-header"> <h1 class="post-title"> Bo Ai </h1> <p class="desc"></p> </header> <article> <div class="profile float-right"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/fuji-profile-photo-480.webp 480w,/assets/img/fuji-profile-photo-800.webp 800w,/assets/img/fuji-profile-photo-1400.webp 1400w," sizes="(min-width: 800px) 231.0px, (min-width: 576px) 30vw, 95vw" type="image/webp"> <img src="/assets/img/fuji-profile-photo.jpg?b8162d73ef65ed9dff786358287aeed9" class="img-fluid z-depth-1 rounded" width="100%" height="auto" alt="fuji-profile-photo.jpg" loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> <div class="more-info"></div> </div> <div class="clearfix"> <p>I am a first-year PhD student in Computer Science and Engineering at UC San Diego, advised by <a href="https://cseweb.ucsd.edu/~haosu/" rel="external nofollow noopener" target="_blank">Hao Su</a>. I am interested in world model learning, large-scale policy learning, and long-horizon skill composition for challenging mobile manipulation tasks.</p> <p>I obtained my Bachelor’s degree with a double major in Computer Science and Statistics from the National University of Singapore under the Turing Program, where I worked with <a href="https://www.comp.nus.edu.sg/~dyhsu/" rel="external nofollow noopener" target="_blank">David Hsu</a> on long-range navigation using a <a href="https://bostondynamics.com/products/spot/" rel="external nofollow noopener" target="_blank">Spot</a> robot. I was also a visiting student at the <a href="https://svl.stanford.edu/" rel="external nofollow noopener" target="_blank">Stanford Vision and Learning Lab</a>, where I worked with <a href="https://yunzhuli.github.io/" rel="external nofollow noopener" target="_blank">Yunzhu Li</a> and <a href="https://jiajunwu.com/" rel="external nofollow noopener" target="_blank">Jiajun Wu</a> on learning tactile-informed dynamics models for manipulating complex objects.</p> </div> <div class="social"> <div class="contact-icons"> <a href="mailto:%62%61%69@%75%63%73%64.%63%6F%6D" title="email"><i class="fa-solid fa-envelope"></i></a> <a href="https://scholar.google.com/citations?user=KlE77HAAAAAJ" title="Google Scholar" rel="external nofollow noopener" target="_blank"><i class="ai ai-google-scholar"></i></a> <a href="https://github.com/BoAi01" title="GitHub" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-github"></i></a> <a href="https://www.linkedin.com/in/bo-ai" title="LinkedIn" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-linkedin"></i></a> <a href="https://twitter.com/BoAi0110" title="X" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-x-twitter"></i></a> </div> </div> <h2> <a href="/news/" style="color: inherit">News</a> </h2> <div class="news"> <div class="table-responsive"> <table class="table table-sm table-borderless"> <tr> <th scope="row" style="width: 20%">May 05, 2024</th> <td> I will present our work <a href="https://robo-pack.github.io/" rel="external nofollow noopener" target="_blank">RoboPack</a> in three workshops at ICRA 2024: <a href="https://shanluo.github.io/ViTacWorkshops/" rel="external nofollow noopener" target="_blank">ViTac</a>, <a href="https://3d-manipulation-workshop.github.io/" rel="external nofollow noopener" target="_blank">3DVRM</a>, and <a href="https://icra-manipulation-skill.github.io/" rel="external nofollow noopener" target="_blank">Future Roadmap for Manipulation Skills</a>. Welcome to drop by our poster sessions. </td> </tr> <tr> <th scope="row" style="width: 20%">Apr 14, 2024</th> <td> I am joining UCSD as a PhD student in 2024 fall! </td> </tr> </table> </div> </div> <h2> <a href="/publications/" style="color: inherit">Selected Publications</a> </h2> <div class="publications"> <ol class="bibliography"> <li> <div class="row"> <div class="col col-sm-4 abbr"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-480.webp 480w,/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-800.webp 800w,/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-1400.webp 1400w," sizes="200px" type="image/webp"> <img src="/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p.gif" class="preview z-depth-1 rounded" width="100%" height="auto" alt="2024ijrr-kilo-nav-15x-480p.gif" data-zoomable loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> </div> <div id="gao2024intentionnet" class="col-sm-8"> <div class="title">IntentionNet: Map-Lite Visual Navigation at the Kilometre Scale</div> <div class="author"> Wei Gao, <strong>Bo Ai</strong>, Joel Loo,  Vinay, and <a href="https://www.comp.nus.edu.sg/~dyhsu/" rel="external nofollow noopener" target="_blank">David Hsu</a> </div> <div class="periodical"> <em>arXiv</em>, 2024 </div> <div class="small-note"> </div> <div class="links"> <a class="abstract btn btn-sm z-depth-0" role="button">Abs</a> <a href="https://arxiv.org/abs/2407.03122" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">PDF</a> </div> <div class="abstract hidden"> <p>This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that employs a monolithic neural network as the low-level planner/controller, and uses a general interface that we call intentions to steer the controller. The paper proposes two types of intentions, Local Path and Environment (LPE) and Discretised Local Move (DLM), and shows that DLM is robust to significant metric positioning and mapping errors. The paper also presents Kilo-IntentionNet, an instance of the IntentionNet system using the DLM intention that is deployed on a Boston Dynamics Spot robot, and which successfully navigates through complex indoor and outdoor environments over distances of up to a kilometre with only noisy odometry.</p> </div> </div> </div> </li> <li> <div class="row"> <div class="col col-sm-4 abbr"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/publication_preview/2024RSS-RoboPack-480.webp 480w,/assets/img/publication_preview/2024RSS-RoboPack-800.webp 800w,/assets/img/publication_preview/2024RSS-RoboPack-1400.webp 1400w," sizes="200px" type="image/webp"> <img src="/assets/img/publication_preview/2024RSS-RoboPack.gif" class="preview z-depth-1 rounded" width="100%" height="auto" alt="2024RSS-RoboPack.gif" data-zoomable loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> </div> <div id="ai2024robopack" class="col-sm-8"> <div class="title">RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing</div> <div class="author"> <strong>Bo Ai*</strong>, <a href="https://s-tian.github.io/" rel="external nofollow noopener" target="_blank">Stephen Tian*</a>, <a href="https://hshi74.github.io/" rel="external nofollow noopener" target="_blank">Haochen Shi</a>, <a href="https://wangyixuan12.github.io/" rel="external nofollow noopener" target="_blank">Yixuan Wang</a>, <a href="https://www.a-star.edu.sg/cfar/about-cfar/our-team/dr-cheston-tan" rel="external nofollow noopener" target="_blank">Cheston Tan</a>, <a href="https://yunzhuli.github.io/" rel="external nofollow noopener" target="_blank">Yunzhu Li</a>, and <a href="https://jiajunwu.com/" rel="external nofollow noopener" target="_blank">Jiajun Wu</a> </div> <div class="periodical"> <em>Robotics: Science and Systems (RSS)</em> , 2024 </div> <div class="small-note"> Abridged in ICRA 2024 workshops <a href="https://shanluo.github.io/ViTacWorkshops/" rel="external nofollow noopener" target="_blank">ViTac</a>, <a href="https://3d-manipulation-workshop.github.io/" rel="external nofollow noopener" target="_blank">3DVRM</a>, <a href="https://icra-manipulation-skill.github.io/" rel="external nofollow noopener" target="_blank">Future Roadmap for Sensorimotor Skills</a>, and RSS 2024 workshop <a href="https://sites.google.com/alora.tech/priors4robots24" rel="external nofollow noopener" target="_blank">Priors4Robots</a>. </div> <div class="links"> <a class="abstract btn btn-sm z-depth-0" role="button">Abs</a> <a href="https://robo-pack.github.io/" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">Website</a> <a href="https://arxiv.org/abs/2407.01418" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">PDF</a> </div> <div class="abstract hidden"> <p>Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile sensing for robotic manipulation by learning a neural, tactile-informed dynamics model. Our proposed framework, RoboPack, employs a recurrent graph neural network to estimate object states, including particles and object-level latent physics information, from historical visuo-tactile observations and to perform future state predictions. Our tactile-informed dynamics model, learned from real-world data, can solve downstream robotics tasks with model-predictive control. We demonstrate our approach on a real robot equipped with a compliant Soft-Bubble tactile sensor on non-prehensile manipulation and dense packing tasks, where the robot must infer the physics properties of objects from direct and indirect interactions. Trained on only an average of 30 minutes of real-world interaction data per task, our model can perform online adaptation and make touch-informed predictions. Through extensive evaluations in both long-horizon dynamics prediction and real-world manipulation, our method demonstrates superior effectiveness compared to previous learning-based and physics-based simulation systems.</p> </div> <div class="bibtex hidden"> <figure class="highlight"><pre><code class="language-bibtex" data-lang="bibtex"><span class="nc">@inproceedings</span><span class="p">{</span><span class="nl">ai2024robopack</span><span class="p">,</span>
+<!DOCTYPE html> <html lang="en"> <head> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8"> <meta charset="utf-8"> <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no"> <meta http-equiv="X-UA-Compatible" content="IE=edge"> <title> Bo Ai </title> <meta name="author" content="Bo Ai"> <meta name="description" content="Bo Ai is an incoming CSE Ph.D. student at UC San Diego, working on robotics and machine learning. He received his Bachelor's degree in CS and Statistics from the National University of Singapore (NUS) and was a visiting researcher intern at the Stanford Vision and Learning Lab (SVL). "> <meta name="keywords" content="robotics, machine learning, artificial intelligence"> <link rel="stylesheet" href="/assets/css/bootstrap.min.css?a4b3f509e79c54a512b890d73235ef04"> <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/css/mdb.min.css" integrity="sha256-jpjYvU3G3N6nrrBwXJoVEYI/0zw8htfFnhT9ljN3JJw=" crossorigin="anonymous"> <link defer rel="stylesheet" href="/assets/css/academicons.min.css?f0b7046b84e425c55f3463ac249818f5"> <link defer rel="stylesheet" type="text/css" href="https://fonts.googleapis.com/css?family=Roboto:300,400,500,700|Roboto+Slab:100,300,400,500,700|Material+Icons&amp;display=swap"> <link defer rel="stylesheet" href="/assets/css/jekyll-pygments-themes-github.css?591dab5a4e56573bf4ef7fd332894c99" media="" id="highlight_theme_light"> <link rel="shortcut icon" href="/assets/img/ucsd-logo.png?ccd154eecfbaa8871c35216e4979e7b5"> <link rel="stylesheet" href="/assets/css/main.css?d41d8cd98f00b204e9800998ecf8427e"> <link rel="canonical" href="https://boai01.github.io/"> <script src="/assets/js/theme.js?a5ca4084d3b81624bcfa01156dae2b8e"></script> <link defer rel="stylesheet" href="/assets/css/jekyll-pygments-themes-native.css?5847e5ed4a4568527aa6cfab446049ca" media="none" id="highlight_theme_dark"> <script>initTheme();</script> </head> <body class="fixed-top-nav "> <header> <nav id="navbar" class="navbar navbar-light navbar-expand-sm fixed-top" role="navigation"> <div class="container"> <button class="navbar-toggler collapsed ml-auto" type="button" data-toggle="collapse" data-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation"> <span class="sr-only">Toggle navigation</span> <span class="icon-bar top-bar"></span> <span class="icon-bar middle-bar"></span> <span class="icon-bar bottom-bar"></span> </button> <div class="collapse navbar-collapse text-right" id="navbarNav"> <ul class="navbar-nav ml-auto flex-nowrap"> <li class="nav-item active"> <a class="nav-link" href="/">About <span class="sr-only">(current)</span> </a> </li> <li class="nav-item "> <a class="nav-link" href="/publications/">Research </a> </li> <li class="nav-item "> <a class="nav-link" href="/teaching/">Teaching </a> </li> <li class="nav-item "> <a class="nav-link" href="/cv/">CV </a> </li> <li class="toggle-container"> <button id="light-toggle" title="Change theme"> <i class="ti ti-sun-moon" id="light-toggle-system"></i> <i class="ti ti-moon-filled" id="light-toggle-dark"></i> <i class="ti ti-sun-filled" id="light-toggle-light"></i> </button> </li> </ul> </div> </div> </nav> <progress id="progress" value="0"> <div class="progress-container"> <span class="progress-bar"></span> </div> </progress> </header> <div class="container mt-5" role="main"> <div class="post"> <header class="post-header"> <h1 class="post-title"> Bo Ai </h1> <p class="desc"></p> </header> <article> <div class="profile float-right"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/fuji-profile-photo-480.webp 480w,/assets/img/fuji-profile-photo-800.webp 800w,/assets/img/fuji-profile-photo-1400.webp 1400w," sizes="(min-width: 800px) 231.0px, (min-width: 576px) 30vw, 95vw" type="image/webp"> <img src="/assets/img/fuji-profile-photo.jpg?b8162d73ef65ed9dff786358287aeed9" class="img-fluid z-depth-1 rounded" width="100%" height="auto" alt="fuji-profile-photo.jpg" loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> <div class="more-info"></div> </div> <div class="clearfix"> <p>I am a first-year PhD student in Computer Science and Engineering at <a href="https://ucsd.edu/" rel="external nofollow noopener" target="_blank">UC San Diego</a>, advised by <a href="https://cseweb.ucsd.edu/~haosu/" rel="external nofollow noopener" target="_blank">Hao Su</a>. I am interested in world model learning, large-scale policy learning, and long-horizon skill composition for challenging mobile manipulation tasks.</p> <p>I obtained my Bachelor’s degree with a double major in Computer Science and Statistics from the <a href="https://nus.edu.sg/" rel="external nofollow noopener" target="_blank">National University of Singapore</a> under the Turing Program, where I worked with <a href="https://www.comp.nus.edu.sg/~dyhsu/" rel="external nofollow noopener" target="_blank">David Hsu</a> on long-range navigation using a <a href="https://bostondynamics.com/products/spot/" rel="external nofollow noopener" target="_blank">Spot</a> robot. I was also a visiting student at the <a href="https://svl.stanford.edu/" rel="external nofollow noopener" target="_blank">Stanford Vision and Learning Lab</a>, where I worked with <a href="https://yunzhuli.github.io/" rel="external nofollow noopener" target="_blank">Yunzhu Li</a> and <a href="https://jiajunwu.com/" rel="external nofollow noopener" target="_blank">Jiajun Wu</a> on learning tactile-informed dynamics models for manipulating complex objects.</p> </div> <div class="social"> <div class="contact-icons"> <a href="mailto:%62%61%69@%75%63%73%64.%63%6F%6D" title="email"><i class="fa-solid fa-envelope"></i></a> <a href="https://scholar.google.com/citations?user=KlE77HAAAAAJ" title="Google Scholar" rel="external nofollow noopener" target="_blank"><i class="ai ai-google-scholar"></i></a> <a href="https://github.com/BoAi01" title="GitHub" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-github"></i></a> <a href="https://www.linkedin.com/in/bo-ai" title="LinkedIn" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-linkedin"></i></a> <a href="https://twitter.com/BoAi0110" title="X" rel="external nofollow noopener" target="_blank"><i class="fa-brands fa-x-twitter"></i></a> </div> </div> <h2> <a href="/news/" style="color: inherit">News</a> </h2> <div class="news"> <div class="table-responsive"> <table class="table table-sm table-borderless"> <tr> <th scope="row" style="width: 20%">May 05, 2024</th> <td> I will present our work <a href="https://robo-pack.github.io/" rel="external nofollow noopener" target="_blank">RoboPack</a> in three workshops at ICRA 2024: <a href="https://shanluo.github.io/ViTacWorkshops/" rel="external nofollow noopener" target="_blank">ViTac</a>, <a href="https://3d-manipulation-workshop.github.io/" rel="external nofollow noopener" target="_blank">3DVRM</a>, and <a href="https://icra-manipulation-skill.github.io/" rel="external nofollow noopener" target="_blank">Future Roadmap for Manipulation Skills</a>. Welcome to drop by our poster sessions. </td> </tr> <tr> <th scope="row" style="width: 20%">Apr 14, 2024</th> <td> I am joining UCSD as a PhD student in 2024 fall! </td> </tr> </table> </div> </div> <h2> <a href="/publications/" style="color: inherit">Selected Publications</a> </h2> <div class="publications"> <ol class="bibliography"> <li> <div class="row"> <div class="col col-sm-4 abbr"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-480.webp 480w,/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-800.webp 800w,/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p-1400.webp 1400w," sizes="200px" type="image/webp"> <img src="/assets/img/publication_preview/2024ijrr-kilo-nav-15x-480p.gif" class="preview z-depth-1 rounded" width="100%" height="auto" alt="2024ijrr-kilo-nav-15x-480p.gif" data-zoomable loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> </div> <div id="gao2024intentionnet" class="col-sm-8"> <div class="title">IntentionNet: Map-Lite Visual Navigation at the Kilometre Scale</div> <div class="author"> Wei Gao, <strong>Bo Ai</strong>, Joel Loo,  Vinay, and <a href="https://www.comp.nus.edu.sg/~dyhsu/" rel="external nofollow noopener" target="_blank">David Hsu</a> </div> <div class="periodical"> <em>arXiv</em>, 2024 </div> <div class="small-note"> </div> <div class="links"> <a class="abstract btn btn-sm z-depth-0" role="button">Abs</a> <a href="https://arxiv.org/abs/2407.03122" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">PDF</a> </div> <div class="abstract hidden"> <p>This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that employs a monolithic neural network as the low-level planner/controller, and uses a general interface that we call intentions to steer the controller. The paper proposes two types of intentions, Local Path and Environment (LPE) and Discretised Local Move (DLM), and shows that DLM is robust to significant metric positioning and mapping errors. The paper also presents Kilo-IntentionNet, an instance of the IntentionNet system using the DLM intention that is deployed on a Boston Dynamics Spot robot, and which successfully navigates through complex indoor and outdoor environments over distances of up to a kilometre with only noisy odometry.</p> </div> </div> </div> </li> <li> <div class="row"> <div class="col col-sm-4 abbr"> <figure> <picture> <source class="responsive-img-srcset" srcset="/assets/img/publication_preview/2024RSS-RoboPack-480.webp 480w,/assets/img/publication_preview/2024RSS-RoboPack-800.webp 800w,/assets/img/publication_preview/2024RSS-RoboPack-1400.webp 1400w," sizes="200px" type="image/webp"> <img src="/assets/img/publication_preview/2024RSS-RoboPack.gif" class="preview z-depth-1 rounded" width="100%" height="auto" alt="2024RSS-RoboPack.gif" data-zoomable loading="eager" onerror="this.onerror=null; $('.responsive-img-srcset').remove();"> </source></picture> </figure> </div> <div id="ai2024robopack" class="col-sm-8"> <div class="title">RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing</div> <div class="author"> <strong>Bo Ai*</strong>, <a href="https://s-tian.github.io/" rel="external nofollow noopener" target="_blank">Stephen Tian*</a>, <a href="https://hshi74.github.io/" rel="external nofollow noopener" target="_blank">Haochen Shi</a>, <a href="https://wangyixuan12.github.io/" rel="external nofollow noopener" target="_blank">Yixuan Wang</a>, <a href="https://www.a-star.edu.sg/cfar/about-cfar/our-team/dr-cheston-tan" rel="external nofollow noopener" target="_blank">Cheston Tan</a>, <a href="https://yunzhuli.github.io/" rel="external nofollow noopener" target="_blank">Yunzhu Li</a>, and <a href="https://jiajunwu.com/" rel="external nofollow noopener" target="_blank">Jiajun Wu</a> </div> <div class="periodical"> <em>Robotics: Science and Systems (RSS)</em> , 2024 </div> <div class="small-note"> Abridged in ICRA 2024 workshops <a href="https://shanluo.github.io/ViTacWorkshops/" rel="external nofollow noopener" target="_blank">ViTac</a>, <a href="https://3d-manipulation-workshop.github.io/" rel="external nofollow noopener" target="_blank">3DVRM</a>, <a href="https://icra-manipulation-skill.github.io/" rel="external nofollow noopener" target="_blank">Future Roadmap for Sensorimotor Skills</a>, and RSS 2024 workshop <a href="https://sites.google.com/alora.tech/priors4robots24" rel="external nofollow noopener" target="_blank">Priors4Robots</a>. </div> <div class="links"> <a class="abstract btn btn-sm z-depth-0" role="button">Abs</a> <a href="https://robo-pack.github.io/" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">Website</a> <a href="https://arxiv.org/abs/2407.01418" class="btn btn-sm z-depth-0" role="button" rel="external nofollow noopener" target="_blank">PDF</a> </div> <div class="abstract hidden"> <p>Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile sensing for robotic manipulation by learning a neural, tactile-informed dynamics model. Our proposed framework, RoboPack, employs a recurrent graph neural network to estimate object states, including particles and object-level latent physics information, from historical visuo-tactile observations and to perform future state predictions. Our tactile-informed dynamics model, learned from real-world data, can solve downstream robotics tasks with model-predictive control. We demonstrate our approach on a real robot equipped with a compliant Soft-Bubble tactile sensor on non-prehensile manipulation and dense packing tasks, where the robot must infer the physics properties of objects from direct and indirect interactions. Trained on only an average of 30 minutes of real-world interaction data per task, our model can perform online adaptation and make touch-informed predictions. Through extensive evaluations in both long-horizon dynamics prediction and real-world manipulation, our method demonstrates superior effectiveness compared to previous learning-based and physics-based simulation systems.</p> </div> <div class="bibtex hidden"> <figure class="highlight"><pre><code class="language-bibtex" data-lang="bibtex"><span class="nc">@inproceedings</span><span class="p">{</span><span class="nl">ai2024robopack</span><span class="p">,</span>
   <span class="na">title</span> <span class="p">=</span> <span class="s">{RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing}</span><span class="p">,</span>
   <span class="na">author</span> <span class="p">=</span> <span class="s">{Ai*, Bo and Tian*, Stephen and Shi, Haochen and Wang, Yixuan and Tan, Cheston and Li, Yunzhu and Wu, Jiajun}</span><span class="p">,</span>
   <span class="na">booktitle</span> <span class="p">=</span> <span class="s">{Robotics: Science and Systems (RSS)}</span><span class="p">,</span>
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