Update index.html

added object handover exp video, updated abstract and author list

Author: fredsukkar

index.html

@@ -58,10 +58,10 @@ <h1 class="title is-1 publication-title">Enabling Safe, Active and Interactive H
               <span class="author-block">
                 <a href="https://scholar.google.com/citations?user=xjJhXegAAAAJ&hl=en" target="_blank">Usama Ali</a><sup>1</sup>,</span>
                 <span class="author-block">
-                  <a href="https://scholar.google.com/citations?user=vd0gTJIAAAAJ&hl=en&oi=sra" target="_blank">Adrian Müller</a><sup>1</sup>,</span>
-                  <span class="author-block">
                     <a href="https://scholar.google.com/citations?user=1rX23ysAAAAJ&hl=en&oi=ao" target="_blank">Fouad Sukkar</a><sup>2</sup>,</span>
                     <span class="author-block">
+                  <a href="https://scholar.google.com/citations?user=vd0gTJIAAAAJ&hl=en&oi=sra" target="_blank">Adrian Müller</a><sup>1</sup>,</span>
+                  <span class="author-block">
                     <a href="https://scholar.google.com/citations?user=2oalmUIAAAAJ&hl=en&oi=sra" target="_blank">Lan Wu</a><sup>2</sup>,</span>
                     <span class="author-block">
                     <a href="https://scholar.google.com.au/citations?user=SINvQmQAAAAJ&hl=en" target="_blank">Cedric Le Gentil</a><sup>2</sup>,</span>
@@ -147,8 +147,7 @@ <h1 class="title is-1 publication-title">Enabling Safe, Active and Interactive H
         <h2 class="title is-3">Abstract</h2>
         <div class="content">
           <p>
-            Human-robot collaboration applications require safe and reactive planning. Euclidean distance fields (EDF) are a promising representation of such dynamic scenes due to their ability to reason about free space and the readily available distance to collision costs. A key challenge for the commonly used discrete EDF representations, however, is the need for differentiable distance fields to produce smooth collision costs and efficient updates of dynamic objects. In this paper, we propose to use a Gaussian Process (GP) distance field-based framework that enables both, differentiable distance fields and fast dynamic scene updates. Moreover, we combine this framework with the Riemannian Motion Policies as a local reactive planner to enable safe human-robot interactions. We design a collision avoidance policy that models the repulsive motion using the distance and gradient fields from our GP. We show our reactive planner in an experiment with a UR5e interacting safely and smoothly with a human.
-          </p>
+            Human-Robot Collaboration (HRC) scenarios demand computationally efficient frameworks that enable natural and safe actions and interactions in shared workspaces. To address this, we propose a novel framework that utilises interactive Gaussian Process (GP) distance fields applying Riemannian Motion Policies (RMP) for key HRC functionality. Unlike traditional Euclidean distance field methods, our framework provides continuous and differentiable distance fields resulting in smooth collision avoidance, efficient updates in dynamic scenes and readily available surface information such as normal vectors and curvature. By leveraging RMPs, our framework supports fast, reactive motion generation, utilising both the distance and gradient fields generated by the GP model. In addition, we propose a Hessian-based normal vector estimation technique that elegantly leverages the GP’s second-order derivative information which we utilise for object manipulation. We demonstrate the versatility of our CPU-only system in common HRC scenarios where a collaborative robot (cobot) interacts safely and naturally with a human and performs grasping actions in a dynamic environment. Our framework offers an open-source, comprehensive and low-computational resource solution for HRC, making it an ideal tool for conducting a wide range of user studies. By providing a continuous and differentiable distance field and combining motion generation, obstacle avoidance, and object manipulation within a single system, we aim to broaden the scope and accessibility of HRC research in real dynamic environments.          </p>
           <img src="static/images/teaser_shift.png" alt="System diagram of our proposed framework.">
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@@ -333,6 +332,13 @@ <h2 class="title is-3"><p style="text-align:center">Videos</p></h2>
             type="video/mp4">
           </video>
         </div>
+        <div class="item item-video6">
+          <video poster="" id="video5" autoplay controls muted loop height="100%">\
+            <!-- Your video file here -->
+            <source src="static/videos/hri25_grasp_exps.mp4"
+            type="video/mp4">
+          </video>
+        </div>
       </div>
     </div>
   </div>