Spaces:
Sleeping
Sleeping
New layout for demo
Browse files- src/display/demo_new.html +559 -453
src/display/demo_new.html
CHANGED
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<!DOCTYPE html>
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<html lang="en">
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<head>
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</head>
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<body>
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<div class="container">
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<div class="header">
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<h1>🤖 World Model Closed Loop Framework</h1>
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<p>Navigate through iterations and explore the decision-making process</p>
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</div>
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<div class="demo-container">
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<
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</div>
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</div>
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</div>
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</div>
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</div>
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<div class="birds-eye-section">
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<div class="section-header">🗺️ Bird's Eye View</div>
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<div class="section-content" id="birdEyeContent">
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<video id="birdEyeVideo"
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Your browser does not support the video tag.
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</video>
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</div>
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</div>
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<div class="results-section">
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<div class="section-header">📊 Final Results & Video</div>
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<div class="results-content" id="resultsContent">
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<div style="display:flex;align-items:center;gap:
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<div class="final-status-display pending" id="statusDisplay" style="margin-bottom:0;flex-shrink:0;">Processing...</div>
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<video id="finalVideo"
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</div>
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</div>
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</div>
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</div>
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<div class="timeline-container" id="timelineContainer">
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<div class="timeline-header">
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<div class="timeline-title">🎬 Navigation Timeline</div>
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</div>
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</div>
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<div class="main-content">
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<div class="iteration-display" id="iterationDisplay">
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<div class="iteration-header">
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let playInterval = null;
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let frames = [];
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let isRunning = false;
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let
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let realActionData = {};
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const scenarios = [
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{ name: "Kitchen Navigation - Find
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{ name: "Living Room - Approach Blue Chair", target: "Blue Chair (Living Room)", prompt: "Move carefully to the blue armchair avoiding obstacles", frames: 12, environment: "Living Room" },
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{ name: "Office Space - Navigate to Green Door", target: "Green Door (Exit)", prompt: "Navigate to the green emergency exit door", frames: 15, environment: "Office" },
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{ name: "Bedroom - Find Yellow Lamp", target: "Yellow Lamp (Bedside)", prompt: "Approach the yellow bedside lamp without disturbing items", frames: 10, environment: "Bedroom" }
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];
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let currentScenario = scenarios[0];
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async function loadActionData() {
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const
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const frameIds = ["A000", "A001", "A002", "A003", "A004", "A005", "A006"];
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realActionData = {};
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for (let i = 0; i < frameIds.length; i++) {
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try {
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const
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if (
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}
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} catch (error) {
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console.warn(`Error loading ${frameIds[i]}:`, error);
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}
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}
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}
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function
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if (!actionData || !actionData.planner_data
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}
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description:
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}));
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}
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function loadScenario(){
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const select = document.getElementById('scenarioSelect');
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currentScenario = scenarios[parseInt(select.value)];
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document.getElementById('scenarioInfo').innerHTML =
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totalFramesCount = currentScenario.frames;
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if (isRunning){
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if (isPlaying) togglePlayback();
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document.getElementById('timelineContainer').style.display = 'none';
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document.getElementById('overviewPanel').style.display = 'none';
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document.querySelector('.demo-container').classList.remove('expanded');
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isRunning = false;
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currentActiveStep = 0;
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const display = document.getElementById('iterationDisplay');
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display.innerHTML =
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display.classList.remove('active');
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}
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}
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async function startDemo(){
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if (isRunning) return;
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// Load real action data first
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console.log("Loading action data...");
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await loadActionData();
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isRunning = true;
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currentActiveStep = 1;
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document.querySelector('.demo-container').classList.add('expanded');
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document.getElementById('overviewPanel').style.display = '
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document.getElementById('timelineContainer').style.display = 'block';
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const frameKeys = ["A000",
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frames = Array.from({length: totalFramesCount}, (_, i) => {
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const frameKey = frameKeys[Math.min(i, frameKeys.length - 1)];
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const actionData = realActionData[frameKey];
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return {
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frameNumber: i + 1,
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frameKey
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status: i === 0 ? 'current' : 'pending',
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observation: `Frame ${i + 1} - ${currentScenario.environment} view`,
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plans:
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completed: false,
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currentStep: 0,
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actionData
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};
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});
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document.getElementById('totalFrames').textContent = totalFramesCount;
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createTimeline();
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displayFrame(0);
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setTimeout(() => { processCurrentFrame(); },
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}
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function processCurrentFrame(){
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const frame = frames[currentFrameIndex];
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if (frame.completed) return;
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frame.status = 'current';
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frame.currentStep = 1;
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displayFrame(currentFrameIndex);
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// Step 1: Observation (1 second)
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setTimeout(() => {
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frame.currentStep = 2;
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currentActiveStep = 2;
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displayFrame(currentFrameIndex);
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// Step 2: VLM Planning (1.5 seconds)
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setTimeout(() => {
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frame.currentStep = 3;
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currentActiveStep = 3;
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displayFrame(currentFrameIndex);
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// Step 3: World Model Simulation (1.5 seconds)
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setTimeout(() => {
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displayFrame(currentFrameIndex);
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const bestPlan = frame.plans[0]; // First plan is highest ranked
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selectPlan(currentFrameIndex, 0);
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frame.completed = true;
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frame.status = 'completed';
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frame.currentStep = 0;
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currentActiveStep = 0;
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displayFrame(currentFrameIndex);
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}, 1000);
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}, 1500);
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}, 1500);
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}, 1000);
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}
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const frame = frames[frameIndex];
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frame.
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displayFrame(frameIndex);
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}
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if (
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}
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}
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function previousFrame(){ if (currentFrameIndex > 0) displayFrame(currentFrameIndex - 1); }
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function nextFrame(){ if (currentFrameIndex < totalFramesCount - 1){ const nextIndex = currentFrameIndex + 1; displayFrame(nextIndex); if (frames[nextIndex].status === 'pending'){ currentActiveStep = 1; processCurrentFrame(); } } }
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function togglePlayback(){
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const playBtn = document.getElementById('playBtn');
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if (isPlaying){
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}
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function updateNavigationButtons(){
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document.getElementById('prevBtn').disabled = currentFrameIndex === 0;
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document.getElementById('nextBtn').disabled = currentFrameIndex === totalFramesCount - 1;
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}
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function createTimeline(){
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const markersContainer = document.getElementById('timelineMarkers');
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markersContainer.innerHTML = '';
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@@ -455,13 +559,12 @@ function createTimeline(){
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const marker = document.createElement('div');
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marker.className = 'frame-marker';
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marker.textContent = i + 1;
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marker.style.left = `${(i / (totalFramesCount - 1)) * 100}%`;
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marker.onclick = () => jumpToFrame(i);
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if (i === 0) marker.classList.add('current');
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markersContainer.appendChild(marker);
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}
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}
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function updateTimeline(){
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const progress = ((currentFrameIndex + 1) / totalFramesCount) * 100;
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document.getElementById('timelineProgress').style.width = progress + '%';
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@@ -473,7 +576,13 @@ function updateTimeline(){
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else if (index === currentFrameIndex) marker.classList.add('current');
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});
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}
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function displayFrame(frameIndex){
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if (frameIndex < 0 || frameIndex >= totalFramesCount) return;
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currentFrameIndex = frameIndex;
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@@ -483,178 +592,175 @@ function displayFrame(frameIndex){
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updateResults();
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const display = document.getElementById('iterationDisplay');
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|
|
|
|
| 487 |
const sequenceIndicatorHTML = `
|
| 488 |
<div class="sequence-indicator">
|
| 489 |
-
|
| 490 |
-
|
| 491 |
-
|
| 492 |
-
|
| 493 |
-
|
| 494 |
-
|
| 495 |
-
|
| 496 |
-
|
| 497 |
-
|
| 498 |
-
<span>Plan</span>
|
| 499 |
-
</div>
|
| 500 |
-
<div class="sequence-arrow">→</div>
|
| 501 |
-
<div class="sequence-step ${frame.currentStep === 3 ? 'active' : ''}">
|
| 502 |
-
<div class="sequence-number">3</div>
|
| 503 |
-
<span>Simulate</span>
|
| 504 |
-
</div>
|
| 505 |
-
<div class="sequence-arrow">→</div>
|
| 506 |
-
<div class="sequence-step ${frame.currentStep === 4 ? 'active' : ''}">
|
| 507 |
-
<div class="sequence-number">4</div>
|
| 508 |
-
<span>Select</span>
|
| 509 |
-
</div>
|
| 510 |
-
</div>
|
| 511 |
-
</div>`;
|
| 512 |
|
| 513 |
-
|
| 514 |
-
|
| 515 |
-
|
| 516 |
-
|
| 517 |
-
<div class="step-
|
| 518 |
-
<div class="step-number ${frame.currentStep === 4 ? 'active-number' : ''}">4</div>
|
| 519 |
-
<div class="step-title">Best Plan Selection</div>
|
| 520 |
-
</div>
|
| 521 |
-
<div class="step-content">
|
| 522 |
-
⭐ ${frame.selectedPlan ? 'Plan Selected' : 'Evaluating options'}<br/>
|
| 523 |
-
<small>${frame.selectedPlan ? frame.selectedPlan.title : 'Choosing optimal action'}</small>
|
| 524 |
-
</div>
|
| 525 |
</div>
|
| 526 |
-
<div class="
|
| 527 |
-
${frame.
|
| 528 |
-
|
| 529 |
-
|
| 530 |
-
|
| 531 |
-
|
| 532 |
-
${plan.ranking === 1 ? '🥇 1st Choice' : plan.ranking === 2 ? '🥈 2nd Choice' : '🥉 3rd Choice'}
|
| 533 |
-
</div>
|
| 534 |
-
</div>
|
| 535 |
-
`).join('')}
|
| 536 |
</div>
|
| 537 |
</div>`;
|
| 538 |
|
| 539 |
-
|
| 540 |
-
|
| 541 |
-
|
| 542 |
-
|
| 543 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 544 |
</div>
|
| 545 |
-
|
| 546 |
-
|
| 547 |
-
|
| 548 |
-
|
| 549 |
-
<div class="step-number ${frame.currentStep === 1 ? 'active-number' : ''}">1</div>
|
| 550 |
-
<div class="step-title">Current Observation</div>
|
| 551 |
-
</div>
|
| 552 |
-
<div class="step-content" style="padding:8px;">
|
| 553 |
-
<img src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/${frame.frameKey}/real_obs_bbox.png" alt="Current Observation" style="width:100%;max-height:200px;object-fit:contain;border-radius:6px;margin-bottom:8px;"/>
|
| 554 |
-
<small style="color:#666;">First-Person Camera View with Bounding Boxes</small>
|
| 555 |
-
</div>
|
| 556 |
-
</div>
|
| 557 |
-
<div class="step-card ${(frame.status === 'current' || frame.completed) && frame.currentStep === 2 ? 'active processing' : (frame.status === 'current' || frame.completed) ? 'active' : ''}">
|
| 558 |
-
<div class="step-header">
|
| 559 |
-
<div class="step-number ${frame.currentStep === 2 ? 'active-number' : ''}">2</div>
|
| 560 |
-
<div class="step-title">VLM Planning</div>
|
| 561 |
-
</div>
|
| 562 |
-
<div class="step-content">🧠 Generated ${frame.plans.length} plans<br/><small>Target: ${currentScenario.target}</small></div>
|
| 563 |
</div>
|
| 564 |
-
<div class="
|
| 565 |
-
|
| 566 |
-
|
| 567 |
-
<
|
|
|
|
| 568 |
</div>
|
| 569 |
-
<div
|
| 570 |
-
<
|
| 571 |
-
|
| 572 |
-
<video src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/${frame.frameKey}/world_model_gen/obj_centered_gen_video.mp4" controls style="width:100%;height:140px;object-fit:contain;border-radius:4px;"></video>
|
| 573 |
-
<div style="text-align:center;font-size:0.8em;color:#888;margin-top:4px;">Prediction 1</div>
|
| 574 |
-
</div>
|
| 575 |
-
<div>
|
| 576 |
-
<video src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/${frame.frameKey}/world_model_gen/obj_centered_gen_video_1.mp4" controls style="width:100%;height:140px;object-fit:contain;border-radius:4px;"></video>
|
| 577 |
-
<div style="text-align:center;font-size:0.8em;color:#888;margin-top:4px;">Prediction 2</div>
|
| 578 |
-
</div>
|
| 579 |
-
</div>
|
| 580 |
-
<small style="color:#666;">Generated Future Views (Object-Centered)</small>
|
| 581 |
</div>
|
| 582 |
</div>
|
| 583 |
-
${step4WithPlans}
|
| 584 |
-
</div>`;
|
| 585 |
-
} else {
|
| 586 |
-
display.innerHTML = `
|
| 587 |
-
<div class="iteration-header">
|
| 588 |
-
<div class="iteration-title">Frame ${frame.frameNumber} - Closed Loop Iteration (${frame.frameKey})</div>
|
| 589 |
-
<div class="iteration-status">${frame.completed ? 'Completed' : frame.status === 'current' ? 'Processing...' : 'Ready'}</div>
|
| 590 |
</div>
|
| 591 |
-
|
| 592 |
-
|
| 593 |
-
|
| 594 |
-
|
| 595 |
-
|
| 596 |
-
|
| 597 |
-
|
| 598 |
-
|
| 599 |
-
|
| 600 |
-
|
| 601 |
-
|
| 602 |
-
|
| 603 |
-
|
| 604 |
-
<
|
| 605 |
-
<div class="step-number ${frame.currentStep === 2 ? 'active-number' : ''}">2</div>
|
| 606 |
-
<div class="step-title">VLM Planning</div>
|
| 607 |
-
</div>
|
| 608 |
-
<div class="step-content">🧠 Generated ${frame.plans.length} plans<br/><small>Target: ${currentScenario.target}</small></div>
|
| 609 |
-
</div>
|
| 610 |
-
<div class="step-card ${(frame.status === 'current' || frame.completed) && frame.currentStep === 3 ? 'active processing' : (frame.status === 'current' || frame.completed) ? 'active' : ''}">
|
| 611 |
-
<div class="step-header">
|
| 612 |
-
<div class="step-number ${frame.currentStep === 3 ? 'active-number' : ''}">3</div>
|
| 613 |
-
<div class="step-title">World Model Simulation</div>
|
| 614 |
-
</div>
|
| 615 |
-
<div class="step-content" style="padding:8px;">
|
| 616 |
-
<div style="display:grid;grid-template-columns:1fr 1fr;gap:12px;margin-bottom:8px;">
|
| 617 |
-
<div>
|
| 618 |
-
<video src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/${frame.frameKey}/world_model_gen/obj_centered_gen_video.mp4" controls style="width:100%;height:140px;object-fit:contain;border-radius:4px;"></video>
|
| 619 |
-
<div style="text-align:center;font-size:0.8em;color:#888;margin-top:4px;">Prediction 1</div>
|
| 620 |
-
</div>
|
| 621 |
-
<div>
|
| 622 |
-
<video src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/${frame.frameKey}/world_model_gen/obj_centered_gen_video_1.mp4" controls style="width:100%;height:140px;object-fit:contain;border-radius:4px;"></video>
|
| 623 |
-
<div style="text-align:center;font-size:0.8em;color:#888;margin-top:4px;">Prediction 2</div>
|
| 624 |
-
</div>
|
| 625 |
-
</div>
|
| 626 |
-
<small style="color:#666;">Generated Future Views (Object-Centered)</small>
|
| 627 |
-
</div>
|
| 628 |
</div>
|
| 629 |
-
${step4WithPlans}
|
| 630 |
</div>`;
|
| 631 |
}
|
| 632 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 633 |
if (frame.status === 'current' || frame.completed) display.classList.add('active');
|
| 634 |
else display.classList.remove('active');
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 635 |
}
|
| 636 |
|
|
|
|
| 637 |
function updateResults(){
|
| 638 |
const completedFrames = frames.filter(f => f.completed).length;
|
| 639 |
-
|
| 640 |
-
|
| 641 |
-
|
| 642 |
-
|
| 643 |
-
|
| 644 |
-
statusElement.
|
| 645 |
-
statusElement.className = 'final-status-display success';
|
| 646 |
-
} else {
|
| 647 |
-
statusElement.textContent = 'Mission Failed';
|
| 648 |
-
statusElement.className = 'final-status-display failure';
|
| 649 |
}
|
| 650 |
finalVideo.style.display = 'block';
|
| 651 |
} else if (completedFrames > 0){
|
| 652 |
-
const statusElement = document.getElementById('statusDisplay');
|
| 653 |
statusElement.textContent = 'In Progress...';
|
| 654 |
statusElement.className = 'final-status-display pending';
|
| 655 |
-
|
| 656 |
}
|
| 657 |
}
|
| 658 |
</script>
|
| 659 |
</body>
|
| 660 |
-
</html>
|
|
|
|
| 1 |
<!DOCTYPE html>
|
| 2 |
<html lang="en">
|
| 3 |
<head>
|
| 4 |
+
<meta charset="UTF-8" />
|
| 5 |
+
<meta name="viewport" content="width=device-width,initial-scale=1.0" />
|
| 6 |
+
<title>World Model Closed Loop Framework</title>
|
| 7 |
+
<script>console.log("WMCL: 3-col header (Controls|BEV|Final) + 3-step sequence + merged Plan&Simulate + HEAD+Range probe");</script>
|
| 8 |
+
<style>
|
| 9 |
+
*{margin:0;padding:0;box-sizing:border-box}
|
| 10 |
+
/* 页面背景 + 顶部标题区文字颜色 */
|
| 11 |
+
body{
|
| 12 |
+
font-family:'Segoe UI',Tahoma,Geneva,Verdana,sans-serif;
|
| 13 |
+
background: transparent;
|
| 14 |
+
min-height:100vh;
|
| 15 |
+
overflow-x:hidden;
|
| 16 |
+
}
|
| 17 |
+
.container{
|
| 18 |
+
background: linear-gradient(135deg,#667eea 0%,#764ba2 100%); /* 把背景移到这里 */
|
| 19 |
+
min-height: auto;
|
| 20 |
+
padding: 20px; /* 如果需要的话可以添加一些内边距 */
|
| 21 |
+
}
|
| 22 |
+
.header{
|
| 23 |
+
text-align:center;
|
| 24 |
+
color:#fff !important; /* 标题与副标题用白色 */
|
| 25 |
+
margin-bottom:30px;
|
| 26 |
+
}
|
| 27 |
+
.header h1{
|
| 28 |
+
font-size:2.5em;
|
| 29 |
+
margin-bottom:10px;
|
| 30 |
+
text-shadow:2px 2px 4px rgba(0,0,0,.3); /* 轻微阴影让白字更清晰 */
|
| 31 |
+
}
|
| 32 |
+
.header p{
|
| 33 |
+
font-size:1.2em;
|
| 34 |
+
opacity:.9;
|
| 35 |
+
}
|
| 36 |
+
|
| 37 |
+
.demo-container{background:white;border-radius:20px;padding:30px;box-shadow:0 10px 30px rgba(0,0,0,.1);display:flex;flex-direction:column;transition:all .3s ease;margin:20px}
|
| 38 |
+
.demo-container.expanded{min-height:auto}
|
| 39 |
+
|
| 40 |
+
/* ===== 顶部三列并排：控制区 | BEV | Final ===== */
|
| 41 |
+
.overview-panel{
|
| 42 |
+
display:grid;
|
| 43 |
+
grid-template-columns: 1.15fr 1fr 1fr;
|
| 44 |
+
gap:20px;
|
| 45 |
+
margin-bottom:20px;
|
| 46 |
+
flex-shrink:0;
|
| 47 |
+
}
|
| 48 |
+
|
| 49 |
+
/* 控制区：与右侧卡片视觉统一 */
|
| 50 |
+
.control-panel{
|
| 51 |
+
background:white;
|
| 52 |
+
border:3px solid #e8eaed;
|
| 53 |
+
border-radius:15px;
|
| 54 |
+
padding:20px;
|
| 55 |
+
display:flex;flex-direction:column;
|
| 56 |
+
}
|
| 57 |
+
.control-row{display:flex;gap:20px;align-items:center;margin-bottom:15px}
|
| 58 |
+
.control-row:last-child{margin-bottom:0}
|
| 59 |
+
.control-label{font-weight:bold;min-width:150px;color:#333}
|
| 60 |
+
.control-input{flex:1}
|
| 61 |
+
select,input[type="text"]{width:100%;padding:10px;border:2px solid #ddd;border-radius:8px;font-size:14px;transition:border-color .3s}
|
| 62 |
+
select:focus,input[type="text"]:focus{outline:none;border-color:#4285f4}
|
| 63 |
+
.start-btn{background:linear-gradient(135deg,#4285f4,#34a853)!important;color:#fff!important;border:none;padding:12px 30px!important;border-radius:25px!important;font-size:16px!important;font-weight:bold!important;cursor:pointer;transition:transform .3s!important,box-shadow .3s!important}
|
| 64 |
+
.start-btn:hover{transform:translateY(-2px);box-shadow:0 10px 20px rgba(66,133,244,.3)}
|
| 65 |
+
.scenario-info{padding:10px;background:#e8f4fd;border-radius:8px;color:#333}
|
| 66 |
+
|
| 67 |
+
.birds-eye-section,.results-section{background:white;border:3px solid #e8eaed;border-radius:15px;padding:20px;display:flex;flex-direction:column}
|
| 68 |
+
.section-header{background:linear-gradient(135deg,#34a853,#4285f4);color:#fff;padding:12px 20px;border-radius:10px;text-align:center;font-weight:bold;margin-bottom:15px}
|
| 69 |
+
.results-section .section-header{background:linear-gradient(135deg,#ea4335,#fbbc04)}
|
| 70 |
+
.section-content{flex:1;background:#f8f9fa;border-radius:10px;display:flex;align-items:center;justify-content:center;color:#666;font-style:italic;height:180px;border:2px dashed #ddd}
|
| 71 |
+
.results-content{background:#f8f9fa;border-radius:10px;padding:15px;height:180px;display:flex;flex-direction:column;justify-content:flex-start;align-items:center;text-align:center;overflow:hidden}
|
| 72 |
+
.final-status-display{padding:8px 12px;border-radius:20px;font-weight:bold;margin-bottom:12px;font-size:1em;flex-shrink:0}
|
| 73 |
+
.final-status-display.success{background:#34a853!important;color:#fff!important}
|
| 74 |
+
.final-status-display.failure{background:#ea4335!important;color:#fff!important}
|
| 75 |
+
.final-status-display.pending{background:#e8eaed!important;color:#666!important}
|
| 76 |
+
|
| 77 |
+
/* ===== 时间线 ===== */
|
| 78 |
+
.timeline-container{background:#f8f9fa;border-radius:10px;padding:15px;margin-bottom:15px;flex-shrink:0;display: none;}
|
| 79 |
+
.timeline-header{display:flex;justify-content:space-between;align-items:center;margin-bottom:10px}
|
| 80 |
+
.timeline-title{font-weight:bold;color:#333;font-size:1em}
|
| 81 |
+
.frame-counter{background:#4285f4;color:#fff;padding:3px 12px;border-radius:15px;font-size:.8em}
|
| 82 |
+
.timeline{position:relative;height:40px;background:#e8eaed;border-radius:20px;margin-bottom:10px;overflow:hidden}
|
| 83 |
+
.timeline-progress{height:100%;background:linear-gradient(90deg,#4285f4,#34a853);border-radius:20px;transition:width .5s ease;position:relative}
|
| 84 |
+
.timeline-markers{position:absolute;top:0;left:0;right:0;height:100%;display:flex;align-items:center;padding:0 15px}
|
| 85 |
+
.frame-marker{width:24px;height:24px;border-radius:50%;background:#fff;border:2px solid #e8eaed;display:flex;align-items:center;justify-content:center;font-size:10px;font-weight:bold;cursor:pointer;transition:all .3s;position:absolute;color:#666}
|
| 86 |
+
.frame-marker:hover{transform:scale(1.1);box-shadow:0 3px 8px rgba(0,0,0,.2)}
|
| 87 |
+
.frame-marker.completed{border-color:#34a853;color:#34a853;background:#e8f5e8}
|
| 88 |
+
.frame-marker.current{border-color:#4285f4;color:#fff;background:#4285f4;animation:pulse 2s infinite}
|
| 89 |
+
@keyframes pulse{0%,100%{transform:scale(1)}50%{transform:scale(1.1)}}
|
| 90 |
+
.navigation-controls{display:flex;justify-content:center;gap:15px}
|
| 91 |
+
.nav-btn{background:#4285f4!important;color:#fff!important;border:none;padding:10px 20px!important;border-radius:20px!important;cursor:pointer!important;font-size:14px!important;transition:background .3s!important}
|
| 92 |
+
.nav-btn:hover{background:#3367d6}
|
| 93 |
+
.nav-btn:disabled{background:#ccc;cursor:not-allowed}
|
| 94 |
+
|
| 95 |
+
/* ===== 主区：三列（Step1 | Step2+3 | Step3[Select]） ===== */
|
| 96 |
+
.main-content{flex:1;min-height:0;display:flex;flex-direction:column}
|
| 97 |
+
.iteration-display{background:white;border:3px solid #e8eaed;border-radius:15px;padding:20px;flex:1;display:flex;flex-direction:column;transition:all .5s ease;min-height:400px}
|
| 98 |
+
.iteration-display.active{border-color:#4285f4;background:linear-gradient(135deg,rgba(66,133,244,.05),rgba(52,168,83,.05))}
|
| 99 |
+
.iteration-header{display:flex;justify-content:space-between;align-items:center;margin-bottom:20px;padding:15px 20px;background:linear-gradient(135deg,#4285f4,#34a853);color:#fff;border-radius:10px;flex-shrink:0}
|
| 100 |
+
.iteration-title{font-size:1.4em;font-weight:bold}
|
| 101 |
+
.iteration-status{padding:5px 15px;border-radius:20px;background:rgba(255,255,255,.2);font-size:.9em}
|
| 102 |
+
|
| 103 |
+
.step-grid{display:grid;grid-template-columns:1fr 1.3fr 1fr;gap:20px;flex:1;margin-bottom:20px}
|
| 104 |
+
.step-card{background:white;border:2px solid #e8eaed;border-radius:12px;padding:20px;transition:all .3s ease;display:flex;flex-direction:column;position:relative}
|
| 105 |
+
.step-card.active{border-color:#4285f4;transform:translateY(-5px);box-shadow:0 10px 20px rgba(66,133,244,.15)}
|
| 106 |
+
.step-card.processing::before{content:'';position:absolute;top:-2px;left:-2px;right:-2px;bottom:-2px;background:linear-gradient(45deg,#4285f4,#34a853,#fbbc04,#ea4335);background-size:300% 300%;border-radius:12px;z-index:-1;animation:rainbow-border 3s linear infinite;opacity:.8}
|
| 107 |
+
@keyframes rainbow-border{0%{background-position:0% 50%}50%{background-position:100% 50%}100%{background-position:0% 50%}}
|
| 108 |
+
.step-header{display:flex;align-items:center;margin-bottom:15px}
|
| 109 |
+
.step-number{width:30px;height:30px;background:#4285f4;color:#fff;border-radius:50%;display:flex;align-items:center;justify-content:center;font-weight:bold;margin-right:10px;position:relative}
|
| 110 |
+
.step-number.active-number{animation:number-pulse 2s ease-in-out infinite;background:linear-gradient(45deg,#4285f4,#34a853)}
|
| 111 |
+
@keyframes number-pulse{0%,100%{transform:scale(1)}50%{transform:scale(1.08)}}
|
| 112 |
+
.step-title{font-weight:bold;color:#333}
|
| 113 |
+
.step-content{background:#f8f9fa;border-radius:8px;padding:12px;flex:1;display:flex;flex-direction:column;align-items:center;justify-content:center;color:#666;font-style:italic;min-height:100px;font-size:.9em;text-align:center}
|
| 114 |
+
|
| 115 |
+
/* Processing Sequence（圆角胶囊风 + 渐变底） */
|
| 116 |
+
.sequence-indicator{
|
| 117 |
+
text-align:center;
|
| 118 |
+
margin-bottom:20px;
|
| 119 |
+
padding:15px;
|
| 120 |
+
background:linear-gradient(135deg,#ff6b6b,#4ecdc4); /* 粉红→蓝绿 的渐变底 */
|
| 121 |
+
border-radius:15px;
|
| 122 |
+
color:#fff;
|
| 123 |
+
}
|
| 124 |
+
.sequence-title{
|
| 125 |
+
font-size:1.2em;
|
| 126 |
+
font-weight:bold;
|
| 127 |
+
margin-bottom:10px;
|
| 128 |
+
}
|
| 129 |
+
.sequence-flow{
|
| 130 |
+
display:flex;
|
| 131 |
+
justify-content:center;
|
| 132 |
+
align-items:center;
|
| 133 |
+
gap:15px;
|
| 134 |
+
flex-wrap:wrap;
|
| 135 |
+
}
|
| 136 |
+
.sequence-step{
|
| 137 |
+
display:flex;
|
| 138 |
+
align-items:center;
|
| 139 |
+
background:rgba(255,255,255,0.15);
|
| 140 |
+
padding:8px 15px;
|
| 141 |
+
border-radius:20px;
|
| 142 |
+
transition:all .3s;
|
| 143 |
+
}
|
| 144 |
+
.sequence-step.active{
|
| 145 |
+
background:rgba(255,255,255,0.3);
|
| 146 |
+
transform:scale(1.05);
|
| 147 |
+
box-shadow:0 4px 15px rgba(0,0,0,.2);
|
| 148 |
+
}
|
| 149 |
+
.sequence-number{
|
| 150 |
+
width:25px;height:25px;
|
| 151 |
+
background:#fff;color:#333;border-radius:50%;
|
| 152 |
+
display:flex;align-items:center;justify-content:center;
|
| 153 |
+
font-weight:bold;font-size:14px;margin-right:8px;
|
| 154 |
+
}
|
| 155 |
+
.sequence-arrow{ color:#fff; font-size:18px; margin:0 5px; }
|
| 156 |
+
|
| 157 |
+
|
| 158 |
+
/* Step2+3 合并内部布局 */
|
| 159 |
+
.plan-pairs{display:grid;grid-template-columns:1fr 1fr;gap:12px;width:100%}
|
| 160 |
+
.plan-box{border:1px dashed #ddd;border-radius:10px;padding:10px;background:#fff}
|
| 161 |
+
.sim-grid{display:grid;grid-template-columns:1fr 1fr;gap:12px;width:100%}
|
| 162 |
+
.sim-grid video{width:100%;height:140px;object-fit:contain;border-radius:4px}
|
| 163 |
+
.subsection-title{font-weight:700;color:#333;margin:6px 0 8px 0}
|
| 164 |
+
|
| 165 |
+
/* Step3(Select) 右侧 ranking */
|
| 166 |
+
.action-list{display:flex;flex-direction:column;gap:12px;width:100%}
|
| 167 |
+
.plan-card{background:white;border:2px solid #e8eaed;border-radius:8px;padding:15px;cursor:pointer;transition:all .3s}
|
| 168 |
+
.plan-card:hover{border-color:#4285f4}
|
| 169 |
+
.plan-card.selected{border-color:#34a853;background:rgba(52,168,83,.08)}
|
| 170 |
+
.plan-title{font-weight:bold;margin-bottom:6px;color:#333}
|
| 171 |
+
.confidence-bar{width:100%;height:8px;background:#eee;border-radius:5px;overflow:hidden}
|
| 172 |
+
.confidence-fill{height:100%;background:linear-gradient(90deg,#ea4335,#fbbc04,#34a853)}
|
| 173 |
+
.plan-card.just-selected{animation:pulseSel .9s ease-in-out 2}
|
| 174 |
+
@keyframes pulseSel{0%{transform:scale(1);box-shadow:0 0 0 rgba(52,168,83,0)}50%{transform:scale(1.02);box-shadow:0 0 18px rgba(52,168,83,.4)}100%{transform:scale(1);box-shadow:0 0 0 rgba(52,168,83,0)}}
|
| 175 |
+
|
| 176 |
+
.success-chip{margin-left:8px;display:inline-flex;align-items:center;gap:6px;background:#e8f5e9;color:#1e4620;border:1px solid #c6e6c9;border-radius:18px;padding:3px 8px;font-weight:600}
|
| 177 |
+
|
| 178 |
+
@media (max-width:1100px){
|
| 179 |
+
.overview-panel{grid-template-columns:1fr}
|
| 180 |
+
.step-grid{grid-template-columns:1fr}
|
| 181 |
+
.plan-pairs{grid-template-columns:1fr}
|
| 182 |
+
.sim-grid{grid-template-columns:1fr}
|
| 183 |
+
}
|
| 184 |
+
</style>
|
| 185 |
</head>
|
| 186 |
<body>
|
| 187 |
<div class="container">
|
| 188 |
+
<!-- <div class="header">
|
| 189 |
<h1>🤖 World Model Closed Loop Framework</h1>
|
| 190 |
<p>Navigate through iterations and explore the decision-making process</p>
|
| 191 |
+
</div> -->
|
| 192 |
|
| 193 |
<div class="demo-container">
|
| 194 |
+
<!-- 顶部：控制区 | BEV | Final 并排 -->
|
| 195 |
+
<div class="overview-panel" id="overviewPanel">
|
| 196 |
+
<!-- 左列：控制区 -->
|
| 197 |
+
<div class="control-panel">
|
| 198 |
+
<div class="control-row">
|
| 199 |
+
<div class="control-label">Scenario:</div>
|
| 200 |
+
<div class="control-input">
|
| 201 |
+
<select id="scenarioSelect" onchange="loadScenario()">
|
| 202 |
+
<option value="0">Kitchen Navigation - Find Table</option>
|
| 203 |
+
<option value="1">Living Room - Approach Blue Chair</option>
|
| 204 |
+
<option value="2">Office Space - Navigate to Green Door</option>
|
| 205 |
+
<option value="3">Bedroom - Find Yellow Lamp</option>
|
| 206 |
+
</select>
|
| 207 |
+
</div>
|
| 208 |
</div>
|
| 209 |
+
<div class="control-row">
|
| 210 |
+
<div class="control-label">Target & Prompt:</div>
|
| 211 |
+
<div class="control-input">
|
| 212 |
+
<div id="scenarioInfo" class="scenario-info">🎯 Target: <strong>Table (Kitchen)</strong> | 📝 Prompt: "Navigate safely to the table in the kitchen"</div>
|
| 213 |
+
</div>
|
| 214 |
</div>
|
| 215 |
+
<div class="control-row">
|
| 216 |
+
<div class="control-label">Start Demo:</div>
|
| 217 |
+
<div class="control-input">
|
| 218 |
+
<button class="start-btn" onclick="startDemo()">🚀 Begin Closed Loop Process</button>
|
| 219 |
+
</div>
|
| 220 |
</div>
|
| 221 |
</div>
|
|
|
|
| 222 |
|
| 223 |
+
<!-- 中列：BEV -->
|
| 224 |
<div class="birds-eye-section">
|
| 225 |
<div class="section-header">🗺️ Bird's Eye View</div>
|
| 226 |
<div class="section-content" id="birdEyeContent">
|
| 227 |
+
<video id="birdEyeVideo"
|
| 228 |
+
src="https://huggingface.co/spaces/WiW-collab/wiw-prototype/resolve/main/src/display/bev_video_5ZKStnWn8Zo.mp4"
|
| 229 |
+
autoplay loop muted controls
|
| 230 |
+
style="width:100%;max-height:200px;object-fit:contain;border-radius:8px;"
|
| 231 |
+
onerror="this.style.display='none'; this.nextElementSibling.style.display='block';">
|
| 232 |
Your browser does not support the video tag.
|
| 233 |
</video>
|
| 234 |
+
<div style="display:none;color:#999;text-align:center;padding:20px;font-style:italic;">
|
| 235 |
+
🎥 BEV Video Loading...
|
| 236 |
+
</div>
|
| 237 |
</div>
|
| 238 |
</div>
|
| 239 |
+
|
| 240 |
+
<!-- 右列：Final -->
|
| 241 |
<div class="results-section">
|
| 242 |
<div class="section-header">📊 Final Results & Video</div>
|
| 243 |
<div class="results-content" id="resultsContent">
|
| 244 |
+
<div style="display:flex;align-items:center;gap:10px;height:100%;width:100%;">
|
| 245 |
<div class="final-status-display pending" id="statusDisplay" style="margin-bottom:0;flex-shrink:0;">Processing...</div>
|
| 246 |
+
<video id="finalVideo"
|
| 247 |
+
src="https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014/A001/world_model_gen/bbox_gen_video_1.mp4"
|
| 248 |
+
controls
|
| 249 |
+
style="flex:1;height:120px;border-radius:8px;display:none;"
|
| 250 |
+
onerror="this.style.display='none'"></video>
|
| 251 |
</div>
|
| 252 |
</div>
|
| 253 |
</div>
|
| 254 |
</div>
|
| 255 |
|
| 256 |
+
<!-- 时间线 -->
|
| 257 |
<div class="timeline-container" id="timelineContainer">
|
| 258 |
<div class="timeline-header">
|
| 259 |
<div class="timeline-title">🎬 Navigation Timeline</div>
|
|
|
|
| 270 |
</div>
|
| 271 |
</div>
|
| 272 |
|
| 273 |
+
<!-- 主展示 -->
|
| 274 |
<div class="main-content">
|
| 275 |
<div class="iteration-display" id="iterationDisplay">
|
| 276 |
<div class="iteration-header">
|
|
|
|
| 290 |
let playInterval = null;
|
| 291 |
let frames = [];
|
| 292 |
let isRunning = false;
|
| 293 |
+
let missionEnded = false;
|
| 294 |
+
let realActionData = {};
|
| 295 |
+
|
| 296 |
+
const DS_BASE = "https://huggingface.co/datasets/zonszer/demo_source_data/resolve/main/AR/FTwan21_lora/5ZKStnWn8Zo/E014";
|
| 297 |
|
| 298 |
const scenarios = [
|
| 299 |
+
{ name: "Kitchen Navigation - Find Table", target: "Table (Kitchen)", prompt: "Navigate safely to the table in the kitchen", frames: 8, environment: "Kitchen" },
|
| 300 |
{ name: "Living Room - Approach Blue Chair", target: "Blue Chair (Living Room)", prompt: "Move carefully to the blue armchair avoiding obstacles", frames: 12, environment: "Living Room" },
|
| 301 |
{ name: "Office Space - Navigate to Green Door", target: "Green Door (Exit)", prompt: "Navigate to the green emergency exit door", frames: 15, environment: "Office" },
|
| 302 |
{ name: "Bedroom - Find Yellow Lamp", target: "Yellow Lamp (Bedside)", prompt: "Approach the yellow bedside lamp without disturbing items", frames: 10, environment: "Bedroom" }
|
| 303 |
];
|
|
|
|
| 304 |
let currentScenario = scenarios[0];
|
| 305 |
|
| 306 |
+
/* --------- 数据载入 --------- */
|
| 307 |
async function loadActionData() {
|
| 308 |
+
const frameIds = ["A000","A001","A002","A003","A004","A005","A006","A007"];
|
|
|
|
|
|
|
| 309 |
realActionData = {};
|
| 310 |
+
await Promise.all(frameIds.map(async id => {
|
|
|
|
| 311 |
try {
|
| 312 |
+
const resp = await fetch(`${DS_BASE}/${id}/action_plan.json`, { method: 'GET', headers: { 'Accept': 'application/json' }, cache: 'no-store' });
|
| 313 |
+
if (!resp.ok) throw new Error(`HTTP ${resp.status}`);
|
| 314 |
+
const data = JSON.parse(await resp.text());
|
| 315 |
+
realActionData[id] = data;
|
| 316 |
+
} catch (e) {
|
| 317 |
+
console.warn(`Load failed for ${id}:`, e);
|
| 318 |
+
realActionData[id] = null;
|
|
|
|
|
|
|
|
|
|
| 319 |
}
|
| 320 |
+
}));
|
| 321 |
}
|
| 322 |
|
| 323 |
+
/* Step2: 两个 plan（来自 planner_next-4.json） */
|
| 324 |
+
function getPlansFromNext4(actionData){
|
| 325 |
+
if (!actionData || !actionData.planner_data) return fallbackPlans();
|
| 326 |
+
const pd = actionData.planner_data;
|
| 327 |
+
let next4 = pd["planner_next-4.json"];
|
| 328 |
+
if (next4) {
|
| 329 |
+
if (Array.isArray(next4) && next4.length && Array.isArray(next4[0])) {
|
| 330 |
+
const seq1 = next4[0] || [];
|
| 331 |
+
const seq2 = next4[1] || [];
|
| 332 |
+
const p1 = { title: "Plan 1 (next-4)", steps: seq1, description: seq1.join(" → "), ranking: 1 };
|
| 333 |
+
const p2 = { title: "Plan 2 (next-4)", steps: seq2, description: seq2.join(" → "), ranking: 2 };
|
| 334 |
+
return [p1, p2].filter(p => p.steps && p.steps.length);
|
| 335 |
+
}
|
| 336 |
+
if (Array.isArray(next4)) {
|
| 337 |
+
const p1 = next4[0] ? { title:"Plan 1 (next-4)", steps:[next4[0]], description:String(next4[0]), ranking:1 } : null;
|
| 338 |
+
const p2 = next4[1] ? { title:"Plan 2 (next-4)", steps:[next4[1]], description:String(next4[1]), ranking:2 } : null;
|
| 339 |
+
return [p1,p2].filter(Boolean);
|
| 340 |
+
}
|
| 341 |
+
}
|
| 342 |
+
if (pd["planner_next-1.json"]) {
|
| 343 |
+
const arr = pd["planner_next-1.json"];
|
| 344 |
+
if (Array.isArray(arr)) {
|
| 345 |
+
const p1 = arr[0] ? { title:"Plan 1", steps:[arr[0]], description:String(arr[0]), ranking:1 } : null;
|
| 346 |
+
const p2 = arr[1] ? { title:"Plan 2", steps:[arr[1]], description:String(arr[1]), ranking:2 } : null;
|
| 347 |
+
return [p1,p2].filter(Boolean);
|
| 348 |
+
}
|
| 349 |
}
|
| 350 |
+
return fallbackPlans();
|
| 351 |
+
}
|
| 352 |
+
function fallbackPlans(){
|
| 353 |
+
return [
|
| 354 |
+
{ title:"Plan 1", steps:["go straight for 0.20m","go straight for 0.20m","turn right 22.5 degrees","go straight for 0.20m"], description:"go straight → go straight → turn right 22.5° → go straight", ranking:1 },
|
| 355 |
+
{ title:"Plan 2", steps:["turn right 22.5 degrees","go straight for 0.20m","go straight for 0.20m","turn left 22.5 degrees"], description:"turn right 22.5° → go straight → go straight → turn left 22.5°", ranking:2 }
|
| 356 |
+
];
|
| 357 |
+
}
|
| 358 |
+
|
| 359 |
+
/* Step3: 三个 action（planner_next-1.json）+ 占位 confidence 50/30/20 */
|
| 360 |
+
const PLACEHOLDER_CONF = {1:50,2:30,3:20};
|
| 361 |
+
function niceActionTitle(raw){
|
| 362 |
+
const s = String(raw||"").toLowerCase();
|
| 363 |
+
if (s.includes("go straight")) return "Go straight";
|
| 364 |
+
if (s.includes("turn left")) return "Turn left";
|
| 365 |
+
if (s.includes("turn right")) return "Turn right";
|
| 366 |
+
return raw || "Action";
|
| 367 |
+
}
|
| 368 |
+
function getRankedActionsFromNext1(actionData){
|
| 369 |
+
if (!actionData || !actionData.planner_data) return [];
|
| 370 |
+
const arr = actionData.planner_data["planner_next-1.json"];
|
| 371 |
+
if (!Array.isArray(arr) || arr.length===0) return [];
|
| 372 |
+
return arr.slice(0,3).map((a,idx)=>({
|
| 373 |
+
title: niceActionTitle(a),
|
| 374 |
+
ranking: idx+1,
|
| 375 |
+
conf: PLACEHOLDER_CONF[idx+1] || 20
|
| 376 |
}));
|
| 377 |
}
|
| 378 |
|
| 379 |
+
/* answerer_data top-1 */
|
| 380 |
+
function getTopAnswerer(actionData){
|
| 381 |
+
if (!actionData || !actionData.answerer_data) return {label:'—', score:0};
|
| 382 |
+
const entries = Object.entries(actionData.answerer_data);
|
| 383 |
+
if (!entries.length) return {label:'—', score:0};
|
| 384 |
+
entries.sort((a,b)=>b[1]-a[1]);
|
| 385 |
+
const [label,score] = entries[0];
|
| 386 |
+
return {label, score};
|
| 387 |
+
}
|
| 388 |
+
function pct(x){ return (Math.round(x*1000)/10).toFixed(1) + '%'; }
|
| 389 |
+
|
| 390 |
+
/* 仅 obj_centered：HEAD + Range GET 兜底；兼容 base/_1/_2 */
|
| 391 |
+
function buildObjCenteredOnly(frameKey) {
|
| 392 |
+
const base = `${DS_BASE}/${frameKey}/world_model_gen`;
|
| 393 |
+
const names = ["obj_centered_gen_video.mp4","obj_centered_gen_video_1.mp4","obj_centered_gen_video_2.mp4"];
|
| 394 |
+
const v = Date.now();
|
| 395 |
+
return names.map(n => `${base}/${n}?v=${v}`);
|
| 396 |
+
}
|
| 397 |
+
async function probe(url){
|
| 398 |
+
try{ const h = await fetch(url, { method:"HEAD", cache:"no-store" }); if (h.ok) return true; }catch{}
|
| 399 |
+
try{ const g = await fetch(url, { method:"GET", headers:{Range:"bytes=0-31"}, cache:"no-store" }); if (g.ok) return true; }catch{}
|
| 400 |
+
return false;
|
| 401 |
+
}
|
| 402 |
+
async function findUpToTwoVideos(frameKey) {
|
| 403 |
+
const candidates = buildObjCenteredOnly(frameKey);
|
| 404 |
+
const found = [];
|
| 405 |
+
for (const u of candidates) { if (await probe(u)) { found.push(u); if (found.length===2) break; } }
|
| 406 |
+
return found;
|
| 407 |
+
}
|
| 408 |
+
function setVideoSrcOrPlaceholder(videoEl, url) {
|
| 409 |
+
if (url) { videoEl.src = url; videoEl.load(); }
|
| 410 |
+
else { videoEl.replaceWith(document.createTextNode("Video unavailable")); }
|
| 411 |
+
}
|
| 412 |
|
| 413 |
+
/* --------- 场景控制 --------- */
|
| 414 |
function loadScenario(){
|
| 415 |
const select = document.getElementById('scenarioSelect');
|
| 416 |
currentScenario = scenarios[parseInt(select.value)];
|
| 417 |
+
document.getElementById('scenarioInfo').innerHTML =
|
| 418 |
+
`🎯 Target: <strong>${currentScenario.target}</strong> | 📝 Prompt: "${currentScenario.prompt}"`;
|
| 419 |
totalFramesCount = currentScenario.frames;
|
| 420 |
+
|
| 421 |
if (isRunning){
|
| 422 |
if (isPlaying) togglePlayback();
|
| 423 |
document.getElementById('timelineContainer').style.display = 'none';
|
| 424 |
document.getElementById('overviewPanel').style.display = 'none';
|
| 425 |
document.querySelector('.demo-container').classList.remove('expanded');
|
| 426 |
+
isRunning = false; missionEnded = false;
|
|
|
|
| 427 |
const display = document.getElementById('iterationDisplay');
|
| 428 |
+
display.innerHTML =
|
| 429 |
+
`<div class="iteration-header"><div class="iteration-title">Ready to Start</div><div class="iteration-status">Waiting...</div></div>
|
| 430 |
+
<div style="flex:1;display:flex;align-items:center;justify-content:center;color:#666;font-size:1.2em;">👆 Click "Begin Closed Loop Process" to start the demonstration</div>`;
|
| 431 |
display.classList.remove('active');
|
| 432 |
}
|
| 433 |
}
|
| 434 |
|
| 435 |
+
/* --------- 生命周期 --------- */
|
| 436 |
async function startDemo(){
|
| 437 |
if (isRunning) return;
|
|
|
|
|
|
|
|
|
|
| 438 |
await loadActionData();
|
| 439 |
+
|
| 440 |
+
isRunning = true; missionEnded = false;
|
|
|
|
|
|
|
| 441 |
document.querySelector('.demo-container').classList.add('expanded');
|
| 442 |
+
document.getElementById('overviewPanel').style.display = 'grid';
|
| 443 |
document.getElementById('timelineContainer').style.display = 'block';
|
| 444 |
|
| 445 |
+
const frameKeys = ["A000","A001","A002","A003","A004","A005","A006","A007"];
|
|
|
|
| 446 |
frames = Array.from({length: totalFramesCount}, (_, i) => {
|
| 447 |
const frameKey = frameKeys[Math.min(i, frameKeys.length - 1)];
|
| 448 |
const actionData = realActionData[frameKey];
|
|
|
|
| 449 |
return {
|
| 450 |
frameNumber: i + 1,
|
| 451 |
+
frameKey,
|
| 452 |
status: i === 0 ? 'current' : 'pending',
|
| 453 |
observation: `Frame ${i + 1} - ${currentScenario.environment} view`,
|
| 454 |
+
plans: getPlansFromNext4(actionData), // Step2
|
| 455 |
+
actions3: getRankedActionsFromNext1(actionData), // Step3
|
| 456 |
+
selectedAction: null,
|
| 457 |
completed: false,
|
| 458 |
+
currentStep: 0, // 1,2,3
|
| 459 |
+
actionData
|
| 460 |
};
|
| 461 |
});
|
| 462 |
|
|
|
|
| 464 |
document.getElementById('totalFrames').textContent = totalFramesCount;
|
| 465 |
createTimeline();
|
| 466 |
displayFrame(0);
|
| 467 |
+
setTimeout(() => { processCurrentFrame(); }, 800);
|
| 468 |
}
|
| 469 |
|
| 470 |
+
/* 核心流程（3 步） */
|
| 471 |
function processCurrentFrame(){
|
| 472 |
const frame = frames[currentFrameIndex];
|
| 473 |
+
if (frame.completed || missionEnded) return;
|
| 474 |
+
|
| 475 |
frame.status = 'current';
|
| 476 |
+
frame.currentStep = 1; displayFrame(currentFrameIndex); // Observe
|
| 477 |
+
|
|
|
|
|
|
|
|
|
|
| 478 |
setTimeout(() => {
|
| 479 |
+
frame.currentStep = 2; displayFrame(currentFrameIndex); // Plan & Simulate
|
|
|
|
|
|
|
|
|
|
|
|
|
| 480 |
setTimeout(() => {
|
| 481 |
+
frame.currentStep = 3; displayFrame(currentFrameIndex); // Select
|
|
|
|
|
|
|
|
|
|
|
|
|
| 482 |
setTimeout(() => {
|
| 483 |
+
const { score } = getTopAnswerer(frame.actionData);
|
| 484 |
+
if (score >= 0.95) {
|
| 485 |
+
const statusElement = document.getElementById('statusDisplay');
|
| 486 |
+
statusElement.innerHTML = 'Mission<br>Success!';
|
| 487 |
+
statusElement.className = 'final-status-display success';
|
| 488 |
+
document.getElementById('finalVideo').style.display = 'block';
|
| 489 |
+
missionEnded = true;
|
| 490 |
+
if (isPlaying) togglePlayback();
|
| 491 |
+
} else {
|
| 492 |
+
if (frame.actions3 && frame.actions3.length) {
|
| 493 |
+
frame.selectedAction = frame.actions3[0];
|
| 494 |
+
frame._pulseIdx = 0; // 渲染后触发动画
|
| 495 |
+
}
|
| 496 |
+
}
|
| 497 |
+
frame.completed = true;
|
| 498 |
+
frame.status = 'completed';
|
| 499 |
+
frame.currentStep = 0;
|
| 500 |
displayFrame(currentFrameIndex);
|
| 501 |
+
}, 900);
|
| 502 |
+
}, 1200);
|
| 503 |
+
}, 800);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 504 |
}
|
| 505 |
|
| 506 |
+
/* 选择动作（点击） */
|
| 507 |
+
function selectAction(frameIndex, idx, animate=false){
|
| 508 |
const frame = frames[frameIndex];
|
| 509 |
+
frame.selectedAction = (frame.actions3||[])[idx] || null;
|
| 510 |
displayFrame(frameIndex);
|
| 511 |
+
if (animate) {
|
| 512 |
+
requestAnimationFrame(() => {
|
| 513 |
+
const cards = document.querySelectorAll('.action-list .plan-card');
|
| 514 |
+
const card = cards[idx];
|
| 515 |
+
if (card) {
|
| 516 |
+
card.classList.remove('just-selected');
|
| 517 |
+
void card.offsetWidth;
|
| 518 |
+
card.classList.add('just-selected');
|
| 519 |
+
}
|
| 520 |
+
});
|
| 521 |
+
}
|
| 522 |
}
|
| 523 |
|
| 524 |
+
/* 时间线/播放 */
|
| 525 |
+
function previousFrame(){ if (!missionEnded && currentFrameIndex > 0) displayFrame(currentFrameIndex - 1); }
|
| 526 |
+
function nextFrame(){
|
| 527 |
+
if (missionEnded) return;
|
| 528 |
+
if (currentFrameIndex < totalFramesCount - 1){
|
| 529 |
+
const nextIndex = currentFrameIndex + 1;
|
| 530 |
+
displayFrame(nextIndex);
|
| 531 |
+
if (frames[nextIndex].status === 'pending'){ processCurrentFrame(); }
|
| 532 |
}
|
| 533 |
}
|
|
|
|
|
|
|
|
|
|
|
|
|
| 534 |
function togglePlayback(){
|
| 535 |
const playBtn = document.getElementById('playBtn');
|
| 536 |
+
if (isPlaying){
|
| 537 |
+
clearInterval(playInterval);
|
| 538 |
+
playBtn.textContent = '▶️ Play';
|
| 539 |
+
isPlaying = false;
|
| 540 |
+
} else {
|
| 541 |
+
if (missionEnded) return;
|
| 542 |
+
playBtn.textContent = '⏸️ Pause';
|
| 543 |
+
isPlaying = true;
|
| 544 |
+
playInterval = setInterval(() => {
|
| 545 |
+
if (missionEnded) { togglePlayback(); return; }
|
| 546 |
+
if (currentFrameIndex < totalFramesCount - 1) nextFrame();
|
| 547 |
+
else togglePlayback();
|
| 548 |
+
}, 2800);
|
| 549 |
+
}
|
| 550 |
}
|
|
|
|
| 551 |
function updateNavigationButtons(){
|
| 552 |
document.getElementById('prevBtn').disabled = currentFrameIndex === 0;
|
| 553 |
+
document.getElementById('nextBtn').disabled = missionEnded || currentFrameIndex === totalFramesCount - 1;
|
| 554 |
}
|
|
|
|
| 555 |
function createTimeline(){
|
| 556 |
const markersContainer = document.getElementById('timelineMarkers');
|
| 557 |
markersContainer.innerHTML = '';
|
|
|
|
| 559 |
const marker = document.createElement('div');
|
| 560 |
marker.className = 'frame-marker';
|
| 561 |
marker.textContent = i + 1;
|
| 562 |
+
marker.style.left = `${(i / Math.max(1,(totalFramesCount - 1))) * 100}%`;
|
| 563 |
+
marker.onclick = () => { if (!missionEnded) jumpToFrame(i); };
|
| 564 |
if (i === 0) marker.classList.add('current');
|
| 565 |
markersContainer.appendChild(marker);
|
| 566 |
}
|
| 567 |
}
|
|
|
|
| 568 |
function updateTimeline(){
|
| 569 |
const progress = ((currentFrameIndex + 1) / totalFramesCount) * 100;
|
| 570 |
document.getElementById('timelineProgress').style.width = progress + '%';
|
|
|
|
| 576 |
else if (index === currentFrameIndex) marker.classList.add('current');
|
| 577 |
});
|
| 578 |
}
|
| 579 |
+
function jumpToFrame(frameIndex){
|
| 580 |
+
if (isPlaying) togglePlayback();
|
| 581 |
+
displayFrame(frameIndex);
|
| 582 |
+
if (frames[frameIndex].status === 'pending' && frameIndex <= currentFrameIndex + 1){ processCurrentFrame(); }
|
| 583 |
+
}
|
| 584 |
|
| 585 |
+
/* --------- 渲染 --------- */
|
| 586 |
function displayFrame(frameIndex){
|
| 587 |
if (frameIndex < 0 || frameIndex >= totalFramesCount) return;
|
| 588 |
currentFrameIndex = frameIndex;
|
|
|
|
| 592 |
updateResults();
|
| 593 |
const display = document.getElementById('iterationDisplay');
|
| 594 |
|
| 595 |
+
const {label:topLabel, score:topScore} = getTopAnswerer(frame.actionData);
|
| 596 |
+
const highConf = topScore >= 0.95;
|
| 597 |
+
|
| 598 |
const sequenceIndicatorHTML = `
|
| 599 |
<div class="sequence-indicator">
|
| 600 |
+
<div class="sequence-title">🔄 Processing Sequence</div>
|
| 601 |
+
<div class="sequence-flow">
|
| 602 |
+
<div class="sequence-step ${frame.currentStep === 1 ? 'active' : ''}"><div class="sequence-number">1</div><span>Observe</span></div>
|
| 603 |
+
<div class="sequence-arrow">→</div>
|
| 604 |
+
<div class="sequence-step ${frame.currentStep === 2 ? 'active' : ''}"><div class="sequence-number">2</div><span>Plan & Simulate</span></div>
|
| 605 |
+
<div class="sequence-arrow">→</div>
|
| 606 |
+
<div class="sequence-step ${frame.currentStep === 3 ? 'active' : ''}"><div class="sequence-number">3</div><span>Select</span></div>
|
| 607 |
+
</div>
|
| 608 |
+
</div>`;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 609 |
|
| 610 |
+
const obsHTML = `
|
| 611 |
+
<div class="step-card ${(frame.status === 'current' || frame.completed) && frame.currentStep === 1 ? 'active processing' : (frame.status === 'current' || frame.completed) ? 'active' : ''}">
|
| 612 |
+
<div class="step-header">
|
| 613 |
+
<div class="step-number ${frame.currentStep === 1 ? 'active-number' : ''}">1</div>
|
| 614 |
+
<div class="step-title">Current Observation</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 615 |
</div>
|
| 616 |
+
<div class="step-content" style="padding:8px;">
|
| 617 |
+
<img src="${DS_BASE}/${frame.frameKey}/real_obs_bbox.png"
|
| 618 |
+
alt="Current Observation"
|
| 619 |
+
style="width:100%;max-height:200px;object-fit:contain;border-radius:6px;margin-bottom:8px;"
|
| 620 |
+
onerror="this.replaceWith(Object.assign(document.createElement('div'),{innerText:'Image unavailable',style:'color:#999;padding:8px'}))">
|
| 621 |
+
<small style="color:#666;">First-Person Camera View with Bounding Boxes</small>
|
|
|
|
|
|
|
|
|
|
|
|
|
| 622 |
</div>
|
| 623 |
</div>`;
|
| 624 |
|
| 625 |
+
/* 中列：Step 2 (Plan & Simulate) */
|
| 626 |
+
function planBox(p){
|
| 627 |
+
const items = (p?.steps||[]).slice(0,4).map(s=>`<li>${s}</li>`).join('') || '<li>—</li>';
|
| 628 |
+
return `<div class="plan-box"><div style="font-weight:600;margin-bottom:6px;color:#333">${p?.title||'Plan'}</div><ul style="text-align:left;list-style:disc;margin-left:18px;color:#555">${items}</ul></div>`;
|
| 629 |
+
}
|
| 630 |
+
const comboHTML = `
|
| 631 |
+
<div class="step-card ${(frame.status === 'current' || frame.completed) && frame.currentStep === 2 ? 'active processing' : (frame.status === 'current' || frame.completed) ? 'active' : ''}">
|
| 632 |
+
<div class="step-header">
|
| 633 |
+
<div class="step-number ${frame.currentStep === 2 ? 'active-number' : ''}">2</div>
|
| 634 |
+
<div class="step-title">Planning & World Model Simulation</div>
|
| 635 |
</div>
|
| 636 |
+
<div class="step-content" style="gap:12px;">
|
| 637 |
+
<div class="plan-pairs">
|
| 638 |
+
${planBox(frame.plans[0])}
|
| 639 |
+
${planBox(frame.plans[1])}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 640 |
</div>
|
| 641 |
+
<div class="subsection-title" style="margin-top:10px;">Object-centered Predictions</div>
|
| 642 |
+
<div class="sim-grid">
|
| 643 |
+
<div>
|
| 644 |
+
<video id="pred1_${frame.frameKey}" controls></video>
|
| 645 |
+
<div style="text-align:center;font-size:.8em;color:#888;margin-top:4px;">Prediction 1</div>
|
| 646 |
</div>
|
| 647 |
+
<div>
|
| 648 |
+
<video id="pred2_${frame.frameKey}" controls></video>
|
| 649 |
+
<div style="text-align:center;font-size:.8em;color:#888;margin-top:4px;">Prediction 2</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 650 |
</div>
|
| 651 |
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 652 |
</div>
|
| 653 |
+
</div>`;
|
| 654 |
+
|
| 655 |
+
/* 右列：Step 3 (Select) */
|
| 656 |
+
function actionCardHTML(action, idx){
|
| 657 |
+
const p = action?.conf ?? (idx===0?50:idx===1?30:20);
|
| 658 |
+
const selected = frame.selectedAction === action ? 'selected' : '';
|
| 659 |
+
const onclick = highConf ? '' : `onclick="selectAction(${frameIndex}, ${idx}, true)"`;
|
| 660 |
+
return `
|
| 661 |
+
<div class="plan-card ${selected}" ${onclick}>
|
| 662 |
+
<div class="plan-title">${action?.title||'Action'}</div>
|
| 663 |
+
<div class="confidence-bar"><div class="confidence-fill" style="width:${p}%"></div></div>
|
| 664 |
+
<div style="display:flex;justify-content:space-between;margin-top:6px;font-size:.85em;color:#666;">
|
| 665 |
+
<span>${idx===0?'🥇 1st Choice':idx===1?'🥈 2nd Choice':'🥉 3rd Choice'}</span>
|
| 666 |
+
<span>${p}%</span>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 667 |
</div>
|
|
|
|
| 668 |
</div>`;
|
| 669 |
}
|
| 670 |
|
| 671 |
+
const decisionExplain =
|
| 672 |
+
highConf
|
| 673 |
+
? `<div style="padding:10px;border-radius:8px;background:#e8f5e9;color:#1e4620;border:1px solid #c6e6c9">
|
| 674 |
+
High confidence (≥95%) on <b>${topLabel}</b> → <b>Stop</b> selecting actions and declare success.
|
| 675 |
+
<span class="success-chip">✅ Success</span>
|
| 676 |
+
</div>`
|
| 677 |
+
: `<div style="padding:10px;border-radius:8px;background:#fff3cd;color:#7a5a00;border:1px solid #ffe69c">
|
| 678 |
+
Confidence is <b>${pct(topScore)}</b> < 95% → choose the <b>highest-ranked</b> action.
|
| 679 |
+
</div>`;
|
| 680 |
+
|
| 681 |
+
const rightHTML = `
|
| 682 |
+
<div class="step-card ${(frame.status === 'current' || frame.completed) && frame.currentStep === 3 ? 'active processing' : (frame.status === 'current' || frame.completed) ? 'active' : ''}">
|
| 683 |
+
<div class="step-header">
|
| 684 |
+
<div class="step-number ${frame.currentStep === 3 ? 'active-number' : ''}">3</div>
|
| 685 |
+
<div class="step-title">Action Selection & Confidence</div>
|
| 686 |
+
</div>
|
| 687 |
+
<div class="step-content" style="gap:10px;">
|
| 688 |
+
<div style="font-style:normal;">
|
| 689 |
+
<b>Top object:</b> ${topLabel} <b>Confidence:</b> ${pct(topScore)}
|
| 690 |
+
</div>
|
| 691 |
+
${decisionExplain}
|
| 692 |
+
${highConf ? '' : `
|
| 693 |
+
<div class="action-list">
|
| 694 |
+
${actionCardHTML(frame.actions3[0] || {title:'Go straight',conf:50}, 0)}
|
| 695 |
+
${actionCardHTML(frame.actions3[1] || {title:'Turn right',conf:30}, 1)}
|
| 696 |
+
${actionCardHTML(frame.actions3[2] || {title:'Turn left',conf:20}, 2)}
|
| 697 |
+
</div>
|
| 698 |
+
`}
|
| 699 |
+
</div>
|
| 700 |
+
</div>`;
|
| 701 |
+
|
| 702 |
+
display.innerHTML = `
|
| 703 |
+
<div class="iteration-header">
|
| 704 |
+
<div class="iteration-title">Frame ${frame.frameNumber} - Closed Loop Iteration (${frame.frameKey})</div>
|
| 705 |
+
<div class="iteration-status">${frame.completed ? 'Completed' : frame.status === 'current' ? 'Processing...' : 'Ready'}</div>
|
| 706 |
+
</div>
|
| 707 |
+
${frame.status === 'current' ? sequenceIndicatorHTML : ''}
|
| 708 |
+
<div class="step-grid">
|
| 709 |
+
${obsHTML}
|
| 710 |
+
${comboHTML}
|
| 711 |
+
${rightHTML}
|
| 712 |
+
</div>`;
|
| 713 |
+
|
| 714 |
+
// 初始化两个预测视频
|
| 715 |
+
(async () => {
|
| 716 |
+
try {
|
| 717 |
+
const k = frame.frameKey;
|
| 718 |
+
const v1 = document.getElementById(`pred1_${k}`);
|
| 719 |
+
const v2 = document.getElementById(`pred2_${k}`);
|
| 720 |
+
const urls = await findUpToTwoVideos(k);
|
| 721 |
+
if (v1) setVideoSrcOrPlaceholder(v1, urls[0] || null);
|
| 722 |
+
if (v2) setVideoSrcOrPlaceholder(v2, urls[1] || null);
|
| 723 |
+
} catch (e) { console.warn("init obj_centered videos failed", e); }
|
| 724 |
+
})();
|
| 725 |
+
|
| 726 |
if (frame.status === 'current' || frame.completed) display.classList.add('active');
|
| 727 |
else display.classList.remove('active');
|
| 728 |
+
|
| 729 |
+
// 自动选择的动效（未成功时）
|
| 730 |
+
if (typeof frame._pulseIdx === 'number') {
|
| 731 |
+
const idxToPulse = frame._pulseIdx;
|
| 732 |
+
requestAnimationFrame(() => {
|
| 733 |
+
requestAnimationFrame(() => {
|
| 734 |
+
const cards = document.querySelectorAll('.action-list .plan-card');
|
| 735 |
+
const card = cards[idxToPulse];
|
| 736 |
+
if (card) {
|
| 737 |
+
card.classList.remove('just-selected');
|
| 738 |
+
void card.offsetWidth;
|
| 739 |
+
card.classList.add('just-selected');
|
| 740 |
+
}
|
| 741 |
+
delete frame._pulseIdx;
|
| 742 |
+
});
|
| 743 |
+
});
|
| 744 |
+
}
|
| 745 |
}
|
| 746 |
|
| 747 |
+
/* 结果区状态 */
|
| 748 |
function updateResults(){
|
| 749 |
const completedFrames = frames.filter(f => f.completed).length;
|
| 750 |
+
const statusElement = document.getElementById('statusDisplay');
|
| 751 |
+
const finalVideo = document.getElementById('finalVideo');
|
| 752 |
+
if (completedFrames === totalFramesCount || missionEnded){
|
| 753 |
+
if (!statusElement.className.includes('success')) {
|
| 754 |
+
statusElement.textContent = missionEnded ? statusElement.textContent : 'Mission Completed';
|
| 755 |
+
statusElement.className = missionEnded ? statusElement.className : 'final-status-display pending';
|
|
|
|
|
|
|
|
|
|
|
|
|
| 756 |
}
|
| 757 |
finalVideo.style.display = 'block';
|
| 758 |
} else if (completedFrames > 0){
|
|
|
|
| 759 |
statusElement.textContent = 'In Progress...';
|
| 760 |
statusElement.className = 'final-status-display pending';
|
| 761 |
+
finalVideo.style.display = 'none';
|
| 762 |
}
|
| 763 |
}
|
| 764 |
</script>
|
| 765 |
</body>
|
| 766 |
+
</html>
|