From 72fdb887d9ee192da6cd15d25f2c77ba43241f9e Mon Sep 17 00:00:00 2001
From: Chaoqi LIU <liuchaoqi730@gmail.com>
Date: Sun, 21 Jul 2024 18:09:03 -0500
Subject: [PATCH] rename web folder and sketch of webpage layout

---
 README.md                                     |   1 +
 docs/README.md                                |  16 -
 docs/index.html                               | 454 ------------------
 webpage/index.html                            | 318 ++++++++++++
 .../static/css/bulma-carousel.min.css         |   0
 .../static/css/bulma-slider.min.css           |   0
 .../static/css/bulma.css.map.txt              |   0
 {docs => webpage}/static/css/bulma.min.css    |   0
 .../static/css/fontawesome.all.min.css        |   0
 {docs => webpage}/static/css/index.css        |   0
 {docs => webpage}/static/images/atlas.ico     | Bin
 {docs => webpage}/static/images/favicon.svg   |   0
 .../static/images/interpolate_end.jpg         | Bin
 .../static/images/interpolate_start.jpg       | Bin
 {docs => webpage}/static/images/steve.webm    | Bin
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 .../static/interpolation/stacked/Icon         |   0
 {docs => webpage}/static/js/bulma-carousel.js |   0
 .../static/js/bulma-carousel.min.js           |   0
 {docs => webpage}/static/js/bulma-slider.js   |   0
 .../static/js/bulma-slider.min.js             |   0
 .../static/js/fontawesome.all.min.js          |   0
 {docs => webpage}/static/js/index.js          |   0
 {docs => webpage}/static/videos/._Icon        | Bin
 {docs => webpage}/static/videos/blueshirt.mp4 | Bin
 {docs => webpage}/static/videos/book.mp4      | Bin
 {docs => webpage}/static/videos/chair-tp.mp4  | Bin
 {docs => webpage}/static/videos/coffee.mp4    | Bin
 .../static/videos/dollyzoom-depth.mp4         | Bin
 .../static/videos/dollyzoom-stacked.mp4       | Bin
 {docs => webpage}/static/videos/dollyzoom.mp4 | Bin
 {docs => webpage}/static/videos/fullbody.mp4  | Bin
 {docs => webpage}/static/videos/mask-nobg.mp4 | Bin
 {docs => webpage}/static/videos/mask.mp4      | Bin
 {docs => webpage}/static/videos/matting.mp4   | Bin
 {docs => webpage}/static/videos/replay.mp4    | Bin
 {docs => webpage}/static/videos/shiba.mp4     | Bin
 {docs => webpage}/static/videos/steve.mp4     | Bin
 {docs => webpage}/static/videos/teaser.mp4    | Bin
 {docs => webpage}/static/videos/toby.mp4      | Bin
 {docs => webpage}/static/videos/toby2.mp4     | Bin
 281 files changed, 319 insertions(+), 470 deletions(-)
 create mode 100644 README.md
 delete mode 100644 docs/README.md
 delete mode 100644 docs/index.html
 create mode 100644 webpage/index.html
 rename {docs => webpage}/static/css/bulma-carousel.min.css (100%)
 rename {docs => webpage}/static/css/bulma-slider.min.css (100%)
 rename {docs => webpage}/static/css/bulma.css.map.txt (100%)
 rename {docs => webpage}/static/css/bulma.min.css (100%)
 rename {docs => webpage}/static/css/fontawesome.all.min.css (100%)
 rename {docs => webpage}/static/css/index.css (100%)
 rename {docs => webpage}/static/images/atlas.ico (100%)
 rename {docs => webpage}/static/images/favicon.svg (100%)
 rename {docs => webpage}/static/images/interpolate_end.jpg (100%)
 rename {docs => webpage}/static/images/interpolate_start.jpg (100%)
 rename {docs => webpage}/static/images/steve.webm (100%)
 rename {docs => webpage}/static/interpolation/stacked/._Icon (100%)
 rename {docs => webpage}/static/interpolation/stacked/000000.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000001.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000002.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000003.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000004.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000005.jpg (100%)
 rename {docs => webpage}/static/interpolation/stacked/000006.jpg (100%)
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diff --git a/README.md b/README.md
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--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+# Implicit Graph Search for Planning on Graphs of Convex Sets
\ No newline at end of file
diff --git a/docs/README.md b/docs/README.md
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index e84d02d..0000000
--- a/docs/README.md
+++ /dev/null
@@ -1,16 +0,0 @@
-# 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},
-}
-```
-
-# 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/docs/index.html b/docs/index.html
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+++ /dev/null
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-<!DOCTYPE html>
-<html>
-
-<head>
-  <meta charset="utf-8">
-  <meta name="description" content="IxG.">
-  <meta name="keywords" content="Graph of Convex Sets, GCS, Motion Planning, Graph Search, Robotics">
-  <meta name="viewport" content="width=device-width, initial-scale=1">
-  <title>INSATxGCS (IxG): Implicit Graph Search for Planning on Graphs of Convex Sets</title>
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-  </script>
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-  <script src="./static/js/bulma-slider.min.js"></script>
-  <script src="./static/js/index.js"></script>
-</head>
-
-<body>
-  <!-- 
-<nav class="navbar" role="navigation" aria-label="main navigation">
-  <div class="navbar-brand">
-    <a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
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-      <span aria-hidden="true"></span>
-    </a>
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-  <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">
-          <i class="fas fa-home"></i>
-      </span>
-      </a>
-
-      <div class="navbar-item has-dropdown is-hoverable">
-        <a class="navbar-link">
-          More Research
-        </a>
-        <div class="navbar-dropdown">
-          <a class="navbar-item" href="https://hypernerf.github.io">
-            HyperNeRF
-          </a>
-          <a class="navbar-item" href="https://nerfies.github.io">
-            Nerfies
-          </a>
-          <a class="navbar-item" href="https://latentfusion.github.io">
-            LatentFusion
-          </a>
-          <a class="navbar-item" href="https://photoshape.github.io">
-            PhotoShape
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-      <div class="container is-max-desktop">
-        <div class="columns is-centered">
-          <div class="column has-text-centered">
-            <h1 class="title is-1 publication-title">INSATxGCS (IxG): Implicit Graph Search for Planning on Graphs of
-              Convex Sets</h1>
-            <div class="is-size-5 publication-authors">
-              <span class="author-block">
-                <a href="https://www.cs.cmu.edu/~rnataraj/">Ramkumar Natarajan</a><sup>1</sup>,</span>
-              <span class="author-block">
-                <a href="https://chaoqi-liu.com/">Chaoqi Liu</a><sup>2</sup>,</span>
-              <span class="author-block">
-                <a href="https://www.cs.cmu.edu/~choset/">Howie Choset</a><sup>1</sup>,
-              </span>
-              <span class="author-block">
-                <a href="https://www.cs.cmu.edu/~maxim/">Maxim Likhachev</a><sup>1</sup>,
-              </span>
-            </div>
-
-            <div class="is-size-5 publication-authors">
-              <span class="author-block"><sup>1</sup>The Robotics Institute, Carnegie Mellon University</span>
-              <span class="author-block"><sup>2</sup>University of Illinois Urbana-Champaign</span>
-            </div>
-
-            <div class="column has-text-centered">
-              <div class="publication-links">
-                <!-- PDF Link. -->
-                <span class="link-block">
-                  <a href="https://arxiv.org/pdf/2011.12948" class="external-link button is-normal is-rounded is-dark">
-                    <span class="icon">
-                      <i class="fas fa-file-pdf"></i>
-                    </span>
-                    <span>Paper</span>
-                  </a>
-                </span>
-                <span class="link-block">
-                  <a href="https://arxiv.org/abs/2011.12948" class="external-link button is-normal is-rounded is-dark">
-                    <span class="icon">
-                      <i class="ai ai-arxiv"></i>
-                    </span>
-                    <span>arXiv</span>
-                  </a>
-                </span>
-                <!-- Video Link. -->
-                <span class="link-block">
-                  <a href="https://www.youtube.com/watch?v=MrKrnHhk8IA"
-                    class="external-link button is-normal is-rounded is-dark">
-                    <span class="icon">
-                      <i class="fab fa-youtube"></i>
-                    </span>
-                    <span>Video</span>
-                  </a>
-                </span>
-                <!-- Code Link. -->
-                <span class="link-block">
-                  <a href="https://github.com/google/nerfies" class="external-link button is-normal is-rounded is-dark">
-                    <span class="icon">
-                      <i class="fab fa-github"></i>
-                    </span>
-                    <span>Code</span>
-                  </a>
-                </span>
-                <!-- Dataset Link. -->
-                <!-- <span class="link-block">
-                <a href="https://github.com/google/nerfies/releases/tag/0.1"
-                   class="external-link button is-normal is-rounded is-dark">
-                  <span class="icon">
-                      <i class="far fa-images"></i>
-                  </span>
-                  <span>Data</span>
-                  </a> -->
-              </div>
-
-            </div>
-          </div>
-        </div>
-      </div>
-    </div>
-  </section>
-
-  <!-- <section class="hero teaser">
-  <div class="container is-max-desktop">
-    <div class="hero-body">
-      <video id="teaser" autoplay muted loop playsinline height="100%">
-        <source src="./static/videos/teaser.mp4"
-                type="video/mp4">
-      </video>
-      <h2 class="subtitle has-text-centered">
-        <span class="dnerf">Nerfies</span> turns selfie videos from your phone into
-        free-viewpoint
-        portraits.
-      </h2>
-    </div>
-  </div>
-</section> -->
-
-
-  <!-- <section class="hero is-light is-small">
-  <div class="hero-body">
-    <div class="container">
-      <div id="results-carousel" class="carousel results-carousel">
-        <div class="item item-steve">
-          <video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/steve.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-chair-tp">
-          <video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/chair-tp.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-shiba">
-          <video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/shiba.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-fullbody">
-          <video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/fullbody.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-blueshirt">
-          <video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/blueshirt.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-mask">
-          <video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/mask.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-coffee">
-          <video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/coffee.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-        <div class="item item-toby">
-          <video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/toby2.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-      </div>
-    </div>
-  </div>
-</section> -->
-
-
-  <section class="section">
-    <div class="container is-max-desktop">
-      <!-- Abstract. -->
-      <div class="columns is-centered has-text-centered">
-        <div class="column is-four-fifths">
-          <h2 class="title is-3">Abstract</h2>
-          <div class="content has-text-justified">
-            <p>
-              Graphs of Convex Sets (GCS) is a recent motion planning and decision-making framework. To plan on GCS one
-              must solve a Mixed Integer Convex Program (MICP). GCS-Opt proposed a tight relaxation to solve this MICP
-              efficiently. Despite this, GCS-Opt for robot motion planning may contain millions of constraints and
-              therefore can be slow. Motivated by the observation that the trajectory solution lies only on a fraction
-              of the set of convex sets, we present two implicit graph search methods for planning on the graph of
-              convex sets called INSATxGCS (IxG) and IxG*. INterleaved Search And Trajectory optimization (INSAT) is a
-              previously developed algorithm that alternates between searching on a graph and optimizing partial paths
-              to find a smooth trajectory. By using an implicit graph search method INSAT on the graph of convex sets,
-              we achieve faster planning while ensuring stronger guarantees on completeness and optimality.
-            </p>
-          </div>
-        </div>
-      </div>
-      <!--/ Abstract. -->
-
-      <!-- Paper video. -->
-      <!-- <div class="columns is-centered has-text-centered">
-      <div class="column is-four-fifths">
-        <h2 class="title is-3">Video</h2>
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-                  frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
-        </div>
-      </div>
-    </div> -->
-      <!--/ Paper video. -->
-    </div>
-  </section>
-
-
-  <section class="section">
-    <div class="container is-max-desktop">
-
-      <div class="columns is-centered">
-
-        <!-- Visual Effects. -->
-        <!-- <div class="column">
-        <div class="content">
-          <h2 class="title is-3">Visual Effects</h2>
-          <p>
-            Using <i>nerfies</i> you can create fun visual effects. This Dolly zoom effect
-            would be impossible without nerfies since it would require going through a wall.
-          </p>
-          <video id="dollyzoom" autoplay controls muted loop playsinline height="100%">
-            <source src="./static/videos/dollyzoom-stacked.mp4"
-                    type="video/mp4">
-          </video>
-        </div>
-      </div> -->
-        <!--/ Visual Effects. -->
-
-        <!-- Matting. -->
-        <!-- <div class="column">
-        <h2 class="title is-3">Matting</h2>
-        <div class="columns is-centered">
-          <div class="column content">
-            <p>
-              As a byproduct of our method, we can also solve the matting problem by ignoring
-              samples that fall outside of a bounding box during rendering.
-            </p>
-            <video id="matting-video" controls playsinline height="100%">
-              <source src="./static/videos/matting.mp4"
-                      type="video/mp4">
-            </video>
-          </div>
-
-        </div>
-      </div>
-    </div> -->
-        <!--/ Matting. -->
-
-        <!-- Animation. -->
-        <!-- <div class="columns is-centered">
-      <div class="column is-full-width">
-        <h2 class="title is-3">Animation</h2> -->
-
-        <!-- Interpolating. -->
-        <!-- <h3 class="title is-4">Interpolating states</h3>
-        <div class="content has-text-justified">
-          <p>
-            We can also animate the scene by interpolating the deformation latent codes of two input
-            frames. Use the slider here to linearly interpolate between the left frame and the right
-            frame.
-          </p>
-        </div>
-        <div class="columns is-vcentered interpolation-panel">
-          <div class="column is-3 has-text-centered">
-            <img src="./static/images/interpolate_start.jpg"
-                 class="interpolation-image"
-                 alt="Interpolate start reference image."/>
-            <p>Start Frame</p>
-          </div>
-          <div class="column interpolation-video-column">
-            <div id="interpolation-image-wrapper">
-              Loading...
-            </div>
-            <input class="slider is-fullwidth is-large is-info"
-                   id="interpolation-slider"
-                   step="1" min="0" max="100" value="0" type="range">
-          </div>
-          <div class="column is-3 has-text-centered">
-            <img src="./static/images/interpolate_end.jpg"
-                 class="interpolation-image"
-                 alt="Interpolation end reference image."/>
-            <p class="is-bold">End Frame</p>
-          </div>
-        </div>
-        <br/> -->
-        <!--/ Interpolating. -->
-
-        <!-- Re-rendering. -->
-        <!-- <h3 class="title is-4">Re-rendering the input video</h3>
-        <div class="content has-text-justified">
-          <p>
-            Using <span class="dnerf">Nerfies</span>, you can re-render a video from a novel
-            viewpoint such as a stabilized camera by playing back the training deformations.
-          </p>
-        </div>
-        <div class="content has-text-centered">
-          <video id="replay-video"
-                 controls
-                 muted
-                 preload
-                 playsinline
-                 width="75%">
-            <source src="./static/videos/replay.mp4"
-                    type="video/mp4">
-          </video>
-        </div> -->
-        <!--/ Re-rendering. -->
-
-        <!-- </div>
-    </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>
-
-
-  <section class="section" id="BibTeX">
-    <div class="container is-max-desktop content">
-      <h2 class="title">BibTeX</h2>
-      <pre><code>@article{natarajan2024ixg,
-  author    = {Natarajan, Ramkumar and Liu, Chaoqi and Choset, Howie and Likhachev, Maxim},
-  title     = {Implicit Graph Search for Planning on Graphs of Convex Sets},
-  journal   = {Robotics: Science and Systems (RSS)},
-  year      = {2024},
-}</code></pre>
-    </div>
-  </section>
-
-
-  <footer class="footer">
-    <div class="container">
-      <!-- <div class="content has-text-centered">
-      <a class="icon-link"
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-      </a>
-      <a class="icon-link" href="https://github.com/keunhong" class="external-link" disabled>
-        <i class="fab fa-github"></i>
-      </a>
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-      <div class="columns is-centered">
-        <div class="column is-8">
-          <div class="content">
-            <p>
-              Website template borrowed from <a href="https://github.com/nerfies/nerfies.github.io">NeRFies</a>.
-            </p>
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--- /dev/null
+++ b/webpage/index.html
@@ -0,0 +1,318 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+  <meta charset="utf-8">
+  <meta name="description" content="IxG.">
+  <meta name="keywords" content="Graph of Convex Sets, GCS, Motion Planning, Graph Search, Robotics">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>INSATxGCS (IxG): Implicit Graph Search for Planning on Graphs of Convex Sets</title>
+
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+  <!-- <script async src="https://www.googletagmanager.com/gtag/js?id=G-PYVRSFMDRL"></script> -->
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+  <link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro" rel="stylesheet">
+
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+  <link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
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+  <link rel="icon" href="./static/images/atlas.ico">
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+  <script src="./static/js/bulma-slider.min.js"></script>
+  <script src="./static/js/index.js"></script>
+</head>
+
+<body>
+  <!-- 
+<nav class="navbar" role="navigation" aria-label="main navigation">
+  <div class="navbar-brand">
+    <a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
+      <span aria-hidden="true"></span>
+      <span aria-hidden="true"></span>
+      <span aria-hidden="true"></span>
+    </a>
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+  <div class="navbar-menu">
+    <div class="navbar-start" style="flex-grow: 1; justify-content: center;">
+      <a class="navbar-item" href="https://keunhong.com">
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+          <i class="fas fa-home"></i>
+      </span>
+      </a>
+
+      <div class="navbar-item has-dropdown is-hoverable">
+        <a class="navbar-link">
+          More Research
+        </a>
+        <div class="navbar-dropdown">
+          <a class="navbar-item" href="https://hypernerf.github.io">
+            HyperNeRF
+          </a>
+          <a class="navbar-item" href="https://nerfies.github.io">
+            Nerfies
+          </a>
+          <a class="navbar-item" href="https://latentfusion.github.io">
+            LatentFusion
+          </a>
+          <a class="navbar-item" href="https://photoshape.github.io">
+            PhotoShape
+          </a>
+        </div>
+      </div>
+    </div>
+
+  </div>
+</nav> -->
+
+
+  <section class="hero">
+    <div class="hero-body">
+      <div class="container is-max-desktop">
+        <div class="columns is-centered">
+          <div class="column has-text-centered">
+            <h1 class="title is-1 publication-title">INSATxGCS (IxG): Implicit Graph Search for Planning on Graphs of
+              Convex Sets</h1>
+            <div class="is-size-5 publication-authors">
+              <span class="author-block">
+                <a href="https://www.cs.cmu.edu/~rnataraj/">Ramkumar Natarajan</a><sup>1</sup>,</span>
+              <span class="author-block">
+                <a href="https://chaoqi-liu.com/">Chaoqi Liu</a><sup>2</sup>,</span>
+              <span class="author-block">
+                <a href="https://www.cs.cmu.edu/~choset/">Howie Choset</a><sup>1</sup>,
+              </span>
+              <span class="author-block">
+                <a href="https://www.cs.cmu.edu/~maxim/">Maxim Likhachev</a><sup>1</sup>,
+              </span>
+            </div>
+
+            <div class="is-size-5 publication-authors">
+              <span class="author-block"><sup>1</sup>The Robotics Institute, Carnegie Mellon University</span>
+              <span class="author-block"><sup>2</sup>University of Illinois Urbana-Champaign</span>
+            </div>
+
+            <div class="column has-text-centered">
+              <div class="publication-links">
+                <!-- PDF Link. -->
+                <span class="link-block">
+                  <a href="https://arxiv.org/pdf/2011.12948" class="external-link button is-normal is-rounded is-dark">
+                    <span class="icon">
+                      <i class="fas fa-file-pdf"></i>
+                    </span>
+                    <span>Paper</span>
+                  </a>
+                </span>
+                <span class="link-block">
+                  <a href="https://arxiv.org/abs/2011.12948" class="external-link button is-normal is-rounded is-dark">
+                    <span class="icon">
+                      <i class="ai ai-arxiv"></i>
+                    </span>
+                    <span>arXiv</span>
+                  </a>
+                </span>
+                <!-- Video Link. -->
+                <span class="link-block">
+                  <a href="https://www.youtube.com/watch?v=MrKrnHhk8IA"
+                    class="external-link button is-normal is-rounded is-dark">
+                    <span class="icon">
+                      <i class="fab fa-youtube"></i>
+                    </span>
+                    <span>Video</span>
+                  </a>
+                </span>
+                <!-- Code Link. -->
+                <span class="link-block">
+                  <a href="https://github.com/google/nerfies" class="external-link button is-normal is-rounded is-dark">
+                    <span class="icon">
+                      <i class="fab fa-github"></i>
+                    </span>
+                    <span>Code</span>
+                  </a>
+                </span>
+              </div>
+
+            </div>
+          </div>
+        </div>
+      </div>
+    </div>
+  </section>
+
+  <section class="section">
+    <div class="container is-max-desktop">
+      <!-- Abstract. -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">Abstract</h2>
+          <div class="content has-text-justified">
+            <p>
+              Graphs of Convex Sets (GCS) is a recent motion planning and decision-making framework. To plan on GCS one
+              must solve a Mixed Integer Convex Program (MICP). GCS-Opt proposed a tight relaxation to solve this MICP
+              efficiently. Despite this, GCS-Opt for robot motion planning may contain millions of constraints and
+              therefore can be slow. Motivated by the observation that the trajectory solution lies only on a fraction
+              of the set of convex sets, we present two implicit graph search methods for planning on the graph of
+              convex sets called INSATxGCS (IxG) and IxG*. INterleaved Search And Trajectory optimization (INSAT) is a
+              previously developed algorithm that alternates between searching on a graph and optimizing partial paths
+              to find a smooth trajectory. By using an implicit graph search method INSAT on the graph of convex sets,
+              we achieve faster planning while ensuring stronger guarantees on completeness and optimality.
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- Abstract. -->
+
+    </div>
+  </section>
+
+
+  <section class="section">
+    <div class="container is-max-desktop">
+      <!-- GCS -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">Graphs of Convex Sets (GCS)</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- GCS -->
+
+      <!-- GCS-Opt -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">GCS-Opt</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- GCS-Opt -->
+
+      <!-- GCS underutilized -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">Why not GCS-Opt for GCS?</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- GCS underutilized -->
+    </div>
+  </section>
+
+
+  <section class="section">
+    <div class="container is-max-desktop">
+      <!-- IxG -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">IxG</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- IxG -->
+
+      <!-- IxG vs GCS-Opt -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">IxG vs GCS-Opt</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- IxG vs GCS-Opt -->
+
+      <!-- IxG* -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">IxG* - optimal variant of IxG</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- IxG* -->
+    </div>
+  </section>
+
+  <section class="section">
+    <div class="container is-max-desktop">
+      <!-- Results -->
+      <div class="columns is-centered has-text-centered">
+        <div class="column is-four-fifths">
+          <h2 class="title is-3">Results</h2>
+          <div class="content has-text-justified">
+            <p>
+              say something
+            </p>
+          </div>
+        </div>
+      </div>
+      <!-- Results -->
+    </div>
+  </section>
+
+
+  <section class="section" id="BibTeX">
+    <div class="container is-max-desktop content">
+      <h2 class="title">BibTeX</h2>
+      <pre><code>@article{natarajan2024ixg,
+  author    = {Natarajan, Ramkumar and Liu, Chaoqi and Choset, Howie and Likhachev, Maxim},
+  title     = {Implicit Graph Search for Planning on Graphs of Convex Sets},
+  journal   = {Robotics: Science and Systems (RSS)},
+  year      = {2024},
+}</code></pre>
+    </div>
+  </section>
+
+
+  <footer class="footer">
+    <div class="container">
+      <div class="columns is-centered">
+        <div class="column is-8">
+          <div class="content">
+            <p>
+              Website template borrowed from <a href="https://github.com/nerfies/nerfies.github.io">NeRFies</a>.
+            </p>
+          </div>
+        </div>
+      </div>
+    </div>
+  </footer>
+
+</body>
+
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