bibtex

Author: SagarJoshi73249

index.html

@@ -94,7 +94,7 @@ <h1 class="title">Robotic Compliant Object Prying Using Diffusion Policy Guided
           <td align=center width=33%>
             <center>
               <img class="layered-paper" width=15% src="images/page2.png"/>
-              <p class="sectitle">Paper <br>(coming soon)</p>
+              <p class="sectitle"><a href="https://arxiv.org/pdf/2503.03998">Paper</a></p>
             </center>
           </td>
           <td align=center width=33%>
@@ -264,12 +264,12 @@ <h1 class="title">Robotic Compliant Object Prying Using Diffusion Policy Guided
       </div>
     </div>
     <div class="divider"></div>
-    <div class="container" id="network">
-      <center><h2 class="sectitle">Network Architecture</h2></center>
-      <div class="container">
-        <img src="images/overview_system_1.png"></img>
+      <div class="container" id="network">
+        <center><h2 class="sectitle">Network Architecture</h2></center>
+        <div class="container">
+          <img src="images/overview_system_1.png"></img>
+        </div>
       </div>
-    </div>
 
     <div class="divider"></div>
 
@@ -452,6 +452,19 @@ <h2 class="sectitle">Experiment Setup</h2>
         </div>
       </div>
     </div>
+    <div class="divider"></div>
+<div class="container" id="bibtex">
+  <center><h2 class="sectitle">BibTeX</h2></center>
+  <pre style="background-color: #f4f4f4; padding: 15px; border-radius: 8px; overflow-x: auto; font-size: 14px;">
+@article{kang2025robotic,
+  author    = {Jeon Ho Kang and Sagar Joshi and Ruopeng Huang and Satyandra K. Gupta},
+  title     = {Robotic Compliant Object Prying Using Diffusion Policy Guided by Vision and Force Observations},
+  journal   = {IEEE Robotics and Automation Letters},
+  year      = {2025},
+  note      = {Accepted for publication. Available on arXiv: arXiv:2503.03998},
+}
+  </pre>
+</div>
 
 
   </body>

mode_change_comparison.png

@@ -401,5 +401,11 @@ a:hover {
       grid-template-columns: 1fr;
   }
 }
+pre {
+  font-family: "Courier New", Courier, monospace;
+  white-space: pre-wrap;
+  word-break: break-word;
+}
+
 
 

style.css

@@ -0,0 +1,87 @@
+import matplotlib.pyplot as plt
+import numpy as np
+import seaborn as sns
+
+# New categories representing mode changes
+categories = ['Approach to Grasp', 'Grasp to Prepare', 'Prepare to Pull']
+agents = ['DP-S', 'DP-M-AM']
+
+# Mean times for each agent and mode change category
+mean_times = {
+    'DP-S': [8.5, 7.8, 6.9],
+    'DP-M-AM': [9.2, 8.3, 7.1]
+}
+
+# Standard errors for each agent and mode change category
+std_errors = {
+    'DP-S': [1.2, 1.1, 1.0],
+    'DP-M-AM': [1.5, 1.3, 1.2]
+}
+
+# Set Seaborn style and context for aesthetics
+sns.set(style='white', context='talk')
+
+# Create the figure and axes
+fig, ax = plt.subplots(figsize=(10, 6))
+
+# Set up the bar positions
+x = np.arange(len(categories))  # Label locations
+width = 0.25  # Width of the bars
+
+# Plot the bars for 'DP-S' and 'DP-M-AM' using specified colors
+rects1 = ax.bar(
+    x - width / 2,  # Positions for DP-S bars
+    mean_times['DP-S'],
+    width,
+    yerr=std_errors['DP-S'],
+    capsize=5,
+    label='DP-S',
+    color='#a6cee3',  # First color
+    edgecolor='black'
+)
+
+rects2 = ax.bar(
+    x + width / 2,  # Positions for DP-M-AM bars
+    mean_times['DP-M-AM'],
+    width,
+    yerr=std_errors['DP-M-AM'],
+    capsize=5,
+    label='DP-M-AM',
+    color='#b2df8a',  # Second color
+    edgecolor='black'
+)
+
+# Customize labels and title
+ax.set_xlabel('Mode Change Stages', fontsize=21)
+ax.set_ylabel('Time Taken (s)', fontsize=21)
+ax.set_title('Comparison of Time Taken for Mode Changes', fontsize=24)
+ax.set_xticks(x)
+ax.set_xticklabels(categories, fontsize=18)  # Increased fontsize for category labels
+ax.legend(title='', fontsize=16)
+
+# Set y-axis limits and ticks
+max_y = max(
+    max(mean_times['DP-S']),
+    max(mean_times['DP-M-AM'])
+) + max(
+    max(std_errors['DP-S']),
+    max(std_errors['DP-M-AM'])
+) + 2
+ax.set_ylim(0, max_y)
+
+# Add ticks on the y-axis with smaller intervals
+ax.set_yticks(np.arange(0, max_y + 1, 2))  # Ticks every 2 units
+
+# Optionally, add minor ticks for even finer granularity
+ax.yaxis.set_minor_locator(plt.MultipleLocator(0.5))  # Minor ticks every 0.5 unit
+ax.grid(visible=True, which='major', axis='y', linestyle='--', alpha=0.7)  # Add grid lines for major ticks
+ax.grid(visible=True, which='minor', axis='y', linestyle=':', alpha=0.4)  # Add grid lines for minor ticks
+
+# Remove spines for a cleaner look
+sns.despine(ax=ax)
+
+# Adjust layout for tightness
+plt.tight_layout()
+
+# Display the plot
+plt.show()