diff --git a/index.html b/index.html
index 0a84efc..22c9442 100644
--- a/index.html
+++ b/index.html
@@ -196,7 +196,7 @@ <h2 class="title is-3">Method Overview</h2>
             <img src="static/images/system_diagram.png" width="100%"/>
           </p>
           <p>
-            <b>(left)</b> Before solving the reach-avoid game, we specify the target set (goal locations), failure set (collisions), and a conditional behavior prediction (CBP) model that can predict the human's future trajectory conditioned on the robot's future plan. <b>(center)</b> During simulated gameplay, the SLIDE policy, <math xmlns="http://www.w3.org/1998/Math/MathML"><msubsup><mi>π</mi><mrow><mi>ℛ</mi></mrow><mo>*</mo></msubsup><mfenced>(<msub><mi>x</mi><mi>e</mi></msub>)</mfenced></math>, is trained against a simulated human adversary <math xmlns="http://www.w3.org/1998/Math/MathML"><msubsup><mi>π</mi><mrow><mi>ℋ</mi></mrow><mo>†</mo></msubsup><mfenced>(<msub><mi>x</mi><mi>e</mi></msub>)</mfenced></math> whose control bounds are informed by the CBP model. <b>(right)</b> Online, the robot uses its robust SLIDE policy to safely influence against <i>any</i>> human.
+            <b>(left)</b> Before solving the reach-avoid game, we specify the target set (goal locations), failure set (collisions), and a conditional behavior prediction (CBP) model that can predict the human's future trajectory conditioned on the robot's future plan. <b>(center)</b> During simulated gameplay, the SLIDE policy, <math xmlns="http://www.w3.org/1998/Math/MathML"><msubsup><mi>π</mi><mrow><mi>ℛ</mi></mrow><mo>*</mo></msubsup><mfenced>(<msub><mi>x</mi><mi>e</mi></msub>)</mfenced></math>, is trained against a simulated human adversary <math xmlns="http://www.w3.org/1998/Math/MathML"><msubsup><mi>π</mi><mrow><mi>ℋ</mi></mrow><mo>†</mo></msubsup><mfenced>(<msub><mi>x</mi><mi>e</mi></msub>)</mfenced></math> whose control bounds are informed by the CBP model. <b>(right)</b> Online, the robot uses its robust SLIDE policy to safely influence against <i>any</i> human.
           </p>
           <br>
         </div>