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RajeshDM · Oct 1, 2021 · 35b21ac · 35b21ac
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diff --git a/docs/_template.html b/docs/_template.html
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+<!DOCTYPE html>
+<html lang="en">
+    <head>
+        <meta charset="utf-8">
+        <meta http-equiv="X-UA-Compatible" content="IE=edge">
+        <meta name="viewport" content="width=device-width, initial-scale=1">
+        <meta name="description" content="Multi-Resolution POMDP Planning for Multi-Object Search in 3D">
+        <title>Multi-Resolution POMDP Planning for Multi-Object Search in 3D</title>
+
+        <!-- Bootstrap -->
+        <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
+
+        <!-- Custom Style -->
+        <link rel="stylesheet" href="static/main.css"/>
+
+        <!-- Icon -->
+        <link rel="icon" href="static/favicon.ico" type="image/x-icon" />
+
+    </head>
+
+    <body>
+        <div class="container" style="margin-top:5em; margin-bottom:5em">
+            <div class="row justify-content-center">
+                <div class="col-xs-11 col-sm-10 col-md-9 col-lg-8">
+                    #{}#
+                </div>
+            </div>
+            <footer class="footer text-justify">
+                <div class="row justify-content-center mt-1">
+                    <a href="http://h2r.cs.brown.edu/">Humans to Robots Lab</a>
+                </div>
+                <div class="row justify-content-center">
+                    Brown University
+                </div>
+                <div class="row justify-content-center mt-2">
+                    <a href="https://brown.edu/"><img src="figs/brownlogo.png" width="30px"></a>
+                </div>
+            </footer>
+        </div>
+    </body>
+</html>
diff --git a/docs/build_site.py b/docs/build_site.py
@@ -0,0 +1,83 @@
+# Converts the README.md to HTML
+import markdown
+import os
+
+README_PATH = "../README.md"
+OUTPUT_DIR = "html"
+
+INSERT =\
+"""
+## Demo
+<div class="row ml-2 mt-3 mb-5">
+<iframe width="560" height="315" src="https://www.youtube.com/embed/oo-wrL0ta6k" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+</div>
+
+
+## Talk
+<div class="row ml-2 mt-3 mb-5">
+<iframe width="560" height="315" src="https://www.youtube.com/embed/5G09TRepJLY" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+</div>
+
+## Overview
+Robots operating in human spaces must find objects such as glasses, books,
+or cleaning supplies that could be on the floor, shelves, or tables. This search
+space is naturally 3D.
+
+When multiple objects must be searched for, such as a cup and a mobile phone, an
+intuitive strategy is to first hypothesize likely search regions for each target
+object based on semantic knowledge or past experience, then search carefully
+within those regions by moving the robot’s camera around the 3D environment. To
+be successful, it is essential for the robot to produce an efficient search
+policy within a designated search region under limited field of view (FOV),
+where target objects could be partially or completely blocked by other
+objects. In this work, we consider the problem setting where a robot must search
+for multiple objects in a search region by actively moving its camera, with as
+few steps as possible.
+
+Searching for objects in a large search region requires acting over long
+horizons under various sources of uncertainty in a partially observable
+environment. For this reason, previous works have used Partially Observable
+Markov Decision Process (POMDP) as a principled decision-theoretic framework for
+object search. However, to ensure the POMDP is manageable to solve, previous
+works reduce the search space or robot mobility to 2D, although objects exist in
+rich 3D environments. The key challenges lie in the intractability of
+maintaining exact belief due to large state space, and the high branching factor
+for planning due to large observation space.
+
+In this paper, we present a POMDP formulation for multi-object search in a 3D
+region with a frustum-shaped field-of-view. To efficiently solve this POMDP, we
+propose a multi-resolution planning algorithm based on online Monte-Carlo tree
+search. In this approach, we design a novel octree-based belief representation
+to capture uncertainty of the target objects at different resolution levels,
+then derive abstract POMDPs at lower resolutions with dramatically smaller state
+and observation spaces.
+
+Evaluation in a simulated 3D domain shows that our approach finds objects more
+efficiently and successfully compared to a set of baselines without resolution
+hierarchy in larger instances under the same computational requirement.
+
+Finally, we demonstrate our approach on a torso-actuated mobile robot in a lab
+environment. The robot finds 3 out of 6 objects placed at different heights in
+two 10m2 x 2m2 regions in around 15 minutes.
+"""
+
+# convert README as html
+with open(README_PATH) as f:
+    md = f.read()
+    md = md.replace("<!-- #<># -->", INSERT)
+
+    content = markdown.markdown(md, extensions=["fenced_code"])
+
+    # Replace asset paths
+    content = content.replace("docs/html/figs", "figs")
+    # Replace <p><code> with <pre><code>
+    content = content.replace("<p><code>", "<pre><code>")
+    content = content.replace("</code></p>", "</code></pre>")
+
+# Load template
+with open("_template.html") as f:
+    template = f.read()
+    html = template.replace("#{}#", content)
+
+with open(os.path.join(OUTPUT_DIR, "index.html"), "w") as f:
+    f.write(html)
diff --git a/docs/html/figs/brownlogo.png b/docs/html/figs/brownlogo.png
diff --git a/docs/html/figs/robot-demo.png b/docs/html/figs/robot-demo.png
diff --git a/docs/html/figs/sim-example-occ.png b/docs/html/figs/sim-example-occ.png
diff --git a/docs/html/figs/sim-example-world1.png b/docs/html/figs/sim-example-world1.png
diff --git a/docs/html/figs/test_models_plot.png b/docs/html/figs/test_models_plot.png
diff --git a/docs/html/figs/test_octree_belief_plot1.png b/docs/html/figs/test_octree_belief_plot1.png
diff --git a/docs/html/figs/test_octree_belief_plot2.png b/docs/html/figs/test_octree_belief_plot2.png