From becaefab52ec720cf60dcf58ffc1cdd0d73359e6 Mon Sep 17 00:00:00 2001 From: reschivon Date: Sat, 11 Oct 2025 00:05:24 -0400 Subject: [PATCH 1/7] Replace video links with youtube where possible --- papers/spasm/index.html | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/papers/spasm/index.html b/papers/spasm/index.html index 57c41907..01c8b9ce 100644 --- a/papers/spasm/index.html +++ b/papers/spasm/index.html @@ -113,7 +113,7 @@

Differentiable Particle Optimization fo - @@ -184,10 +184,7 @@

Abstract

Video

- +
From a39f0729c4ddc2a7ea965c466ffb67e09bb41e85 Mon Sep 17 00:00:00 2001 From: ShrutheeshIR Date: Sun, 12 Oct 2025 22:54:09 -0400 Subject: [PATCH 2/7] zoomed in --- papers/spasm/index.html | 10 +++++-- papers/spasm/static/css/index.css | 35 +++++++++++++++++++++++ papers/spasm/static/js/index.js | 47 +++++++++++++++++++++++++++++++ 3 files changed, 89 insertions(+), 3 deletions(-) diff --git a/papers/spasm/index.html b/papers/spasm/index.html index 01c8b9ce..81cee732 100644 --- a/papers/spasm/index.html +++ b/papers/spasm/index.html @@ -172,7 +172,7 @@

Abstract

Unlike hierarchical approaches, SPaSM jointly optimizes object placements and robot trajectories to handle scenarios where motion feasibility constrains placement options. - Experimental evaluation on challenging benchmarks demonstrates solution times in the realm of milliseconds with a 100% success rate; a 4000x speedup compared to existing approaches. + Experimental evaluation on challenging benchmarks demonstrates solution times in the realm of milliseconds with a 100% success rate; a 4000x speedup compared to existing approaches.

@@ -211,10 +211,12 @@

Trajectory Optimization

alt="Interpolate start reference image."/>

Initial State

-
+
+
Loading...
+
@@ -240,10 +242,12 @@

More Trajectory Optimization

alt="Interpolate start reference image."/>

Initial State

-
+
+
Loading...
+
diff --git a/papers/spasm/static/css/index.css b/papers/spasm/static/css/index.css index 21076ef5..78f341cf 100644 --- a/papers/spasm/static/css/index.css +++ b/papers/spasm/static/css/index.css @@ -155,3 +155,38 @@ body { #interpolation-image-wrapper img { border-radius: 5px; } + +.zoom-container { + display: inline-block; + cursor: zoom-in; + position: relative; + transition: transform 0.3s ease; + transform-origin: center center; + z-index: 1; +} +#zoomOverlay { + display: none; /* hidden by default */ + position: fixed; + inset: 0; + background: rgba(0, 0, 0, 0.6); + backdrop-filter: blur(2px); + z-index: 998; + opacity: 0; + transition: opacity 0.3s ease; +} + +/* --- Active zoomed state --- */ +.zoom-container.zoomed { + position: fixed; + top: 50%; + left: 50%; + transform: translate(-50%, -50%) scale(1.25); + transform-origin: center center; + z-index: 999; + cursor: zoom-out; +} + +.zoom-container.zoomed ~ #zoomOverlay { + display: block; + opacity: 1; +} \ No newline at end of file diff --git a/papers/spasm/static/js/index.js b/papers/spasm/static/js/index.js index 01ff434e..b17af5ee 100644 --- a/papers/spasm/static/js/index.js +++ b/papers/spasm/static/js/index.js @@ -101,3 +101,50 @@ function setInterpolationImage2(i) { image.oncontextmenu = function() { return false; }; $('#interpolation-image-wrapper-2').empty().append(image); } + +// zoom.js +document.addEventListener('DOMContentLoaded', () => { + const zoomables = document.querySelectorAll('.zoom-container'); + const overlay = document.getElementById('zoomOverlay'); + let currentZoom = null; + + zoomables.forEach(container => { + container.addEventListener('click', e => { + if (e.target.closest('input, button, select, a, textarea, .no-zoom')) return; + + // Close previously zoomed item if another is clicked + if (currentZoom && currentZoom !== container) closeZoom(currentZoom); + + if (container.classList.contains('zoomed')) { + closeZoom(container); + } else { + openZoom(container); + } + }); + }); + + overlay.addEventListener('click', () => { + if (currentZoom) closeZoom(currentZoom); + }); + + window.addEventListener('keydown', e => { + const key = e.key || e.code || ''; + if ((key === 'Escape' || key === 'Esc') && currentZoom) { + closeZoom(currentZoom); + } + }, true); + + function openZoom(el) { + el.classList.add('zoomed'); + overlay.style.display = 'block'; + requestAnimationFrame(() => (overlay.style.opacity = '1')); + currentZoom = el; + } + + function closeZoom(el) { + el.classList.remove('zoomed'); + overlay.style.opacity = '0'; + setTimeout(() => (overlay.style.display = 'none'), 300); + currentZoom = null; + } +}); \ No newline at end of file From 1f59bf742d724b969c8d7a8cb1d8726882de97d1 Mon Sep 17 00:00:00 2001 From: reschivon Date: Mon, 13 Oct 2025 08:11:46 -0400 Subject: [PATCH 3/7] Fix mime-type for video --- papers/spasm/index.html | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/papers/spasm/index.html b/papers/spasm/index.html index 81cee732..376dc93f 100644 --- a/papers/spasm/index.html +++ b/papers/spasm/index.html @@ -145,7 +145,7 @@

Differentiable Particle Optimization fo

SPaSM solves sequential manipulation problems in milliseconds @@ -270,7 +270,7 @@

More Trajectory Optimization

BibTeX (preprint)

@article{chen2025spasm,
-    author={Lucas Chen and Shrutheesh Raman Iyer and Zachary Kingston},
+    author={Lucas Chen and Shrutheesh R. Iyer and Zachary Kingston},
     title={Differentiable Particle Optimization for Fast Sequential Manipulation}, 
     year={2025},
     eprint={2510.07674},

From 466159a085e36c7a07db890dcf524988cb6ee96d Mon Sep 17 00:00:00 2001
From: reschivon 
Date: Thu, 16 Oct 2025 06:33:08 -0400
Subject: [PATCH 4/7] Update lucas's website link

---
 _members/lucas.md       | 10 +++++++---
 papers/spasm/index.html |  2 +-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/_members/lucas.md b/_members/lucas.md
index 2a1b3899..72a3396e 100644
--- a/_members/lucas.md
+++ b/_members/lucas.md
@@ -7,6 +7,7 @@ pronouns: he/him
 github: "reschivon"
 email: "chen4007@purdue.edu"
 linkedin: "i-make-robots"
+wesbite: "xclucas.github.io"
 google_scholar: "1nU-etIAAAAJ"
 image: "lucas.jpg"
 group: Master's Students
@@ -14,6 +15,9 @@ position: Master's Student
 group_rank: 3
 ---
 
-I am a Master's student at the CoMMA lab in the [Computer Science Department](https://www.cs.purdue.edu/) of [Purdue University](https://www.purdue.edu/).
-Though it's too early to say for sure, my research interests include vision for robotics, physics informed networks, and motion planning, especially in wacky and unusual situations. In the past, I have worked with RL, language-controlled robots, and planning with PDEs.
-I am also interested in how we can make proof-of-concept methods from literature reliable and explainable enough to deploy to commercial robots.
+
+I am a Masters student in the CoMMA lab in the [Computer Science Department](https://www.cs.purdue.edu/) of [Purdue University](https://www.purdue.edu/). I am currently working on learning-based motion planning and trajectory optimization for realtime (millisecond!) planning.
+
+I'm still sorting out my research interests, which broadly involve designing robotic systems and algorithms that can make informed adaptations to unseen and ever-changing conditions in the real world. Sometimes, this involves distilling high level semantic information into executable trajectories and motions.
+
+In the past, I have worked on projects spanning kinodynamic motion planning for wacky situations, distributed multiagent RL, open language querying, and human-robot interaction/intent modelling. I am also interested in how we can make proof-of-concept methods from literature reliable and explainable enough to deploy to commercial robots. 
\ No newline at end of file
diff --git a/papers/spasm/index.html b/papers/spasm/index.html
index 376dc93f..5e99620d 100644
--- a/papers/spasm/index.html
+++ b/papers/spasm/index.html
@@ -77,7 +77,7 @@
           
Differentiable Particle Optimization for Fast Sequential Manipulation

           

             
-              Lucas Chen,
+              Lucas Chen,
             
               Shrutheesh R. Iyer,
             and

From 70a042852f8e140f5e6cef7a0559368aa2ced334 Mon Sep 17 00:00:00 2001
From: reschivon 
Date: Thu, 16 Oct 2025 06:36:21 -0400
Subject: [PATCH 5/7] Add https prefix

---
 _members/lucas.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_members/lucas.md b/_members/lucas.md
index 72a3396e..396bcdfc 100644
--- a/_members/lucas.md
+++ b/_members/lucas.md
@@ -7,7 +7,7 @@ pronouns: he/him
 github: "reschivon"
 email: "chen4007@purdue.edu"
 linkedin: "i-make-robots"
-wesbite: "xclucas.github.io"
+wesbite: "https://xclucas.github.io/"
 google_scholar: "1nU-etIAAAAJ"
 image: "lucas.jpg"
 group: Master's Students

From 3e93b276f680e7d51fb0e4a845ba829f8359cc83 Mon Sep 17 00:00:00 2001
From: reschivon 
Date: Thu, 16 Oct 2025 06:47:04 -0400
Subject: [PATCH 6/7] typo

---
 _members/lucas.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_members/lucas.md b/_members/lucas.md
index 396bcdfc..af6aeb25 100644
--- a/_members/lucas.md
+++ b/_members/lucas.md
@@ -7,7 +7,7 @@ pronouns: he/him
 github: "reschivon"
 email: "chen4007@purdue.edu"
 linkedin: "i-make-robots"
-wesbite: "https://xclucas.github.io/"
+website: "https://xclucas.github.io/"
 google_scholar: "1nU-etIAAAAJ"
 image: "lucas.jpg"
 group: Master's Students

From cde2c6136e1ec92104dde4afb1db27a3f934c916 Mon Sep 17 00:00:00 2001
From: reschivon 
Date: Thu, 16 Oct 2025 16:49:30 -0400
Subject: [PATCH 7/7] update github usename

---
 _members/lucas.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_members/lucas.md b/_members/lucas.md
index af6aeb25..f1c0a51c 100644
--- a/_members/lucas.md
+++ b/_members/lucas.md
@@ -4,7 +4,7 @@ title: Lucas Chen
 first_name: Lucas
 last_name: Chen
 pronouns: he/him
-github: "reschivon"
+github: "xclucas"
 email: "chen4007@purdue.edu"
 linkedin: "i-make-robots"
 website: "https://xclucas.github.io/"