add new videos and figures

Author: davidelic

README.md

@@ -10,51 +10,6 @@ Project website and resources for the POMDAR benchmark.
 
 Repo: **https://github.com/srl-ethz/POMDAR**
 
-### Why assets sometimes “don’t show” (Git LFS vs Pages)
-
-GitHub’s **default** Pages mode (**deploy from a branch**) publishes files **exactly as stored in Git**. For **Git LFS**, what’s stored in Git is a **small pointer file**, not the real binary. **GitHub Pages does not resolve LFS** in that mode — the browser receives pointers, so meshes/videos break. This is the same limitation discussed in the community thread: [“Can’t see LFS files on github website”](https://github.com/orgs/community/discussions/149620).
-
-You have two workable approaches:
-
-| Approach | What to do |
-|----------|------------|
-| **A. GitHub Actions deploy (this repo)** | **Settings → Pages → Source: GitHub Actions** (not “Deploy from a branch”). The workflow [`.github/workflows/deploy-pages.yml`](.github/workflows/deploy-pages.yml) runs `actions/checkout` with **`lfs: true`**, then uploads the **`docs/`** folder **with real LFS files expanded** — so `.mov` / `.stl` / etc. still in LFS in the repo, but the **published site** gets the actual bytes. |
-| **B. Don’t use LFS for static web assets** | Keep small files (e.g. **`.obj` meshes**) as **normal Git blobs** so **any** Pages mode serves them. This repo stores **`.obj` in plain Git** for that reason. Very large media can be hosted on a **CDN / Releases** and linked by URL instead. |
-
-**Do not** rely on branch-only deploy if the site must load LFS-tracked files, unless you use **A** or move those assets out of LFS (**B**).
-
----
-
-## Publish / update the site
-
-1. Push to **`main`**.
-2. **Settings → Pages → Build and deployment → Source:** **GitHub Actions**.
-3. Wait for the **Deploy GitHub Pages** workflow (green check on the **Actions** tab).
-4. Open **https://srl-ethz.github.io/POMDAR/**
-
-If you still use **“Deploy from a branch”** → **`/docs`**, LFS-backed assets (e.g. **`.mov`**, **`.stl`**) will **not** work in the browser until you switch to **GitHub Actions** or stop using LFS for those paths.
-
----
-
-## Git LFS (what stays in LFS)
-
-See [`.gitattributes`](.gitattributes). Typical patterns:
-
-- **In LFS:** `.mov`, `.stl`, `.ply`, `.dae`, `.mjb` (large binaries).
-- **Plain Git (not LFS):** **`.obj`** MuJoCo meshes — small enough for normal Git and **required** for static serving if you ever use branch deploy without resolving LFS.
-
-Install locally before push/clone:
-
-```bash
-brew install git-lfs   # macOS
-git lfs install
-git lfs pull            # after clone, fetch LFS objects
-```
-
-**GitHub limits:** normal Git rejects files **> 100 MB** per file. Large clips may need LFS or re-encoding. See [About Git LFS](https://docs.github.com/en/repositories/working-with-files/managing-large-files/about-git-large-file-storage).
-
----
-
 ## Updating the site
 
 Edit **`docs/`** (the deployed tree). Sync from your dev folder into `docs/` before committing.

docs/assets/benchmark_overview_colored.pdf

@@ -44,6 +44,13 @@ <h1>A Benchmark of Dexterity for Anthropomorphic Robotic Hands</h1>
 
       <div class="actions" aria-label="Resources">
         <a class="btn btn-solid" href="assets/pomdar.pdf" target="_blank" rel="noreferrer">PDF</a>
+        <a
+          class="btn"
+          href="https://arxiv.org/abs/2604.09294"
+          target="_blank"
+          rel="noopener noreferrer"
+          >arXiv</a
+        >
         <span class="btn btn-soon" title="Coming soon">CAD (soon)</span>
         <span class="btn btn-soon" title="Coming soon">Code (soon)</span>
         <a class="btn" href="#interactive-sim">Interactive sim</a>
@@ -120,14 +127,17 @@ <h3>Grasping (G1–G6)</h3>
         </div>
 
         <figure class="figure" style="margin-top: 1.25rem">
-          <div class="media">
-            <img
-              src="assets/benchmark_overview_p1.png"
-              alt="POMDAR task configurations: vertical, horizontal, continuous rotation, and grasping panels"
-              loading="lazy"
-            />
+          <div class="media media--pdf">
+            <iframe
+              class="pdf-embed"
+              title="POMDAR benchmark overview (PDF)"
+              src="assets/benchmark_overview_colored.pdf#view=FitH"
+            ></iframe>
           </div>
-          <p class="fig-caption">Benchmark apparatus and task configurations (overview figure).</p>
+          <p class="fig-caption">
+            Benchmark apparatus and task configurations (overview).
+            <a href="assets/benchmark_overview_colored.pdf" target="_blank" rel="noreferrer">Open PDF</a>
+          </p>
         </figure>
       </section>
 
@@ -161,8 +171,8 @@ <h2>Teleoperation Results</h2>
         <div class="results-layout">
           <div class="results-figure-wrap">
             <img
-              src="assets/results_legend_p1.png"
-              alt="POMDAR results: ORCA embodiments and radar plots for manipulation and grasp tasks"
+              src="assets/results_figure6.jpg"
+              alt="POMDAR teleoperation results: ORCA embodiments (2–16 DoF) and radar plots for manipulation (C, V, H) and grasping (G) tasks"
               loading="lazy"
             />
           </div>
@@ -187,14 +197,52 @@ <h2>Citation</h2>
         <pre id="bibtex">@article{liconti2026pomdar,
   title={A Benchmark of Dexterity for Anthropomorphic Robotic Hands},
   author={Liconti, Davide and Zhou, Yuning and Toshimitsu, Yasunori and Hinchet, Ronan and Katzschmann, Robert K.},
-  journal={arXiv preprint},
+  journal={arXiv preprint arXiv:2604.09294},
   year={2026}
 }</pre>
         <button id="copyBibtex" class="btn btn-solid" type="button">Copy BibTeX</button>
         <p class="subtle" style="margin-top: 1rem; text-align: center">
           Replace the BibTeX entry with the final venue information when available.
         </p>
       </section>
+
+      <section class="section reveal" id="taxonomy">
+        <h2>Task taxonomy</h2>
+        <p class="abstract" style="margin-top: 0; max-width: 85ch; margin-left: auto; margin-right: auto">
+          POMDAR tasks map to the families shown in the paper figures: <b>C</b> (continuous rotation: thread, stick,
+          wheel, fidget), <b>V</b> (vertical scaffold: wheel, stick, sphere), <b>H</b> (horizontal scaffold: scissors,
+          chopsticks, squeeze, palmar, pinch), and <b>G</b> (free grasping: wheel, sphere, disk, and three cylinder
+          sizes). The results figure above compares ORCA embodiments on these taxonomy cells.
+        </p>
+        <figure class="figure" style="margin-top: 1rem">
+          <div class="media media--pdf">
+            <iframe
+              class="pdf-embed pdf-embed--tall"
+              title="POMDAR task taxonomy (PDF)"
+              src="assets/taxonomy_spaced.pdf#view=FitH"
+            ></iframe>
+          </div>
+          <p class="fig-caption">
+            Taxonomy layout (paper Fig.&nbsp;6 style).
+            <a href="assets/taxonomy_spaced.pdf" target="_blank" rel="noreferrer">Open PDF</a>
+          </p>
+        </figure>
+      </section>
+
+      <section class="section reveal" id="video">
+        <h2>Benchmark in motion</h2>
+        <p class="abstract" style="margin-top: 0; text-align: center; max-width: 75ch; margin-left: auto; margin-right: auto">
+          Clip from our supplementary video (1&nbsp;minute excerpt, 0:37–1:37).
+        </p>
+        <figure class="figure">
+          <div class="media">
+            <video controls playsinline preload="metadata" src="assets/pomdar_ral_clip.mp4"></video>
+          </div>
+          <p class="fig-caption">
+            <a href="assets/pomdar_ral_clip.mp4" download>Download clip</a>
+          </p>
+        </figure>
+      </section>
     </main>
 
     <footer class="footer reveal">

docs/assets/pomdar.pdf

@@ -284,6 +284,30 @@ h3 {
   vertical-align: middle;
 }
 
+.media video {
+  width: 100%;
+  height: auto;
+  display: block;
+  vertical-align: middle;
+}
+
+.media--pdf {
+  padding: 0;
+  line-height: 0;
+}
+
+.pdf-embed {
+  width: 100%;
+  min-height: 68vh;
+  border: 0;
+  display: block;
+  background: var(--media-bg);
+}
+
+.pdf-embed--tall {
+  min-height: 85vh;
+}
+
 #overview .media img {
   max-height: min(78vh, 820px);
   object-fit: contain;