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Another attempt to fix images
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@DanielChaseButterfield
DanielChaseButterfield committed Oct 7, 2024
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<meta property="og:url" content="https://lunarlab-gatech.github.io/Morphology-Informed-HGNN/"/>

<!-- Path to banner image, should be in the path listed below. Optimal dimenssions are 1200X630-->
<meta property="og:image" content="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/banner_image.png?raw=true"/>
<meta property="og:image" content="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/banner_image.png"/>
<meta property="og:type" content="article">
<meta property="og:locale" content="en_US">

<!-- Path to banner image, should be in the path listed below. Optimal dimenssions are 1200X600-->
<meta name="twitter:image" content="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/banner_image.png?raw=true">
<meta name="twitter:image" content="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/banner_image.png">
<meta name="twitter:card" content="MI-HGNN is a structured deep learning model that incorporates robot morphological constraints; designed as a learning-based contact estimator for legged robots.">
<meta name="twitter:title" content="MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception">
<meta name="twitter:description" content="MI-HGNN is a structured deep learning model that incorporates robot morphological constraints; designed as a learning-based contact estimator for legged robots.">
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<title>MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception</title>
<link rel="icon" type="image/x-icon" href="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/favicon.ico">
<link rel="icon" type="image/x-icon" href="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/favicon.ico">
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">

Expand Down Expand Up @@ -132,7 +132,7 @@ <h1 class="title is-1 publication-title">MI-HGNN: Morphology-Informed Heterogene
<div class="container is-max-desktop">
<div class="hero-body is-centered"> -->
<!-- Your image here -->
<!-- <img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure1.png" alt="Figure 1; Visualization of our MI-HGNN for the Mini-Cheetah robot as an example." width="600" class="center"/> -->
<!-- <img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure1.png" alt="Figure 1; Visualization of our MI-HGNN for the Mini-Cheetah robot as an example." width="600" class="center"/> -->
<!-- <h2 class="subtitle has-text-centered top-margin">
Visualization of our MI-HGNN for the Mini-Cheetah robot as an example. The structure and connectivity of our graph is constructed from the robot morphology. Local sensor measurements are embedded into the corresponding node to predict contact information at the foot node.
</h2> -->
Expand All @@ -146,7 +146,7 @@ <h1 class="title is-1 publication-title">MI-HGNN: Morphology-Informed Heterogene
<div class="container-side-by-side-abstract">
<div class="container" style="max-width: 550px; margin-left: 15%; min-width: 300px;">
<!-- Your image here -->
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure1.png?raw=true" alt="Figure 1; Visualization of our MI-HGNN for the Mini-Cheetah robot as an example."/>
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure1.png" alt="Figure 1; Visualization of our MI-HGNN for the Mini-Cheetah robot as an example."/>
<!-- <h2 class="subtitle has-text-centered top-margin">
Visualization of our MI-HGNN for the Mini-Cheetah robot as an example. The structure and connectivity of our graph is constructed from the robot morphology. Local sensor measurements are embedded into the corresponding node to predict contact information at the foot node.
</h2> -->
Expand All @@ -168,7 +168,7 @@ <h2 class="title is-3 center">Abstract</h2>
<!-- Your image here -->
<h1 class="title">How does MI-HGNN work?</h1>
<br>
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure2.png?raw=true" alt="Figure 2; Overview of the proposed MI-HGNN for legged robot contact perception problems." class="center" width="1200"/>
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure2.png" alt="Figure 2; Overview of the proposed MI-HGNN for legged robot contact perception problems." class="center" width="1200"/>
<br>
<p class="subtitle top-margin">
Our MI-HGNN is constructed from a robot kinematic structure where nodes are joints and edges are links. Proprioceptive sensor measurements acquired at each local frame are embedded into the corresponding node through a heterogeneous encoder, and fused via several layers of message-passing. A foot decoder attached to the foot node exacts the contact information during inference.
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</div>

<div class="item">
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure3a.png?raw=true" width="1000">
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure3a.png" width="1000">
</div>
</div>

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</p>
</div>
<div class="item">
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/Table3.png?raw=true" width="950">
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/Table3.png" width="950">
</div>
</div>

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</p>
</div>
<div class="item">
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/Table2.png?raw=true" width="880">
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/Table2.png" width="880">
</div>
</div>

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</p>
</div>
<div class="item">
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure3b.png?raw=true" width="960">
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure3b.png" width="960">
</div>
</div>
</div>
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<div class="container">
<div class="item">
Your image here
<img src="https://github.com/lunarlab-gatech/Morphology-Informed-HGNN/tree/main/paper/website_images/figure5.png" alt="Evaluation of all model types on a sub sequence of the “Unseen All” test sequence for the GRF estimation task." width="700" class="center"/>
<img src="https://raw.githubusercontent.com/lunarlab-gatech/Morphology-Informed-HGNN/refs/heads/main/paper/website_images/figure5.png" alt="Evaluation of all model types on a sub sequence of the “Unseen All” test sequence for the GRF estimation task." width="700" class="center"/>
<h2 class="subtitle has-text-centered">
Evaluation of all model types on a sub sequence of the “Unseen All” test sequence for the GRF estimation task, which includes an unseen friction coefficient ( ˙x = 0.5), unseen speed (v = 1.0), and unseen terrain (rough).
</h2>
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