ankitsultana · krishanrana · Jun 30, 2021 · Jun 30, 2021 · Jun 30, 2021 · Jun 30, 2021
diff --git a/README.md b/README.md
@@ -1,60 +1,2 @@
-# Researcher
 
-### [Demo Website](http://ankitsultana.com/researcher)
-
-A clean, single column, monospace resume template built for jekyll
-
-### Installation
-
-Simply fork the repository and edit away.
-
-#### Installation via remote themes
-
-* Just setting `remote_theme: ankitsultana/researcher@gem` in `_config.yml` should work. Although in that case, I am not sure how
-you would build your site locally for testing. If you know how, open up an issue and let me know.
-* For more info, [refer this](https://blog.github.com/2017-11-29-use-any-theme-with-github-pages/).
-
-### Customization
-
-* You can edit the `.md` (markdown) files as you see fit. You can also add some other markdown file, say `foo.md` in the root directory of the repository. It will then be accessible like so `{{ url of your website }}/foo`.
-
-* You can of course remove `contact.md` if you don't want it
-
-* To set the heading, edit the `title` variable in `_config.yml`
-
-* To edit the `links` mentioned on the navigation bar, you can edit `_config.yml`. For example:
-
-```
-nav:
- - name: "About"
-   link: "/researcher/"
- - name: "Resume"
-   link: "resume.pdf"
- - name: "Contact"
-   link: "contact"
-```
-
-* You can change the accent (color of hyperlinks) by editing the `accent` variable in `_sass/vars.scss`
-
-* You can setup google analytics, by setting `tracking_id` in `_config.yml`
-
-* To add a profile picture, make sure to give the image tag the class `profile-picture`. In other words,do it like so:
-
-```html
-<img class="profile-picture" src="sherlock.jpg">
-```
-
-* You can remove/customize the footer as you like by setting the
-appropriate variables in `_config.yml`
-
-* (New in v1.2.0) You can add institute logo at the top, by setting `ins_logo` in `_config.yml`. If you want
-to adjust the logo's size, try setting `max-height` in `#ins-logo` in file `./_sass/_style.scss` to the desired
-value
-
-![Institute Logo Image Sample](https://github.com/ankitsultana/assets/raw/master/ins-logo-sample.png)
-
-**Note:** Customizing the accent color might cause merge conflicts if you later try to merge from `bk2dcradle/researcher` to fetch updates/patches etc. (applicable only if you have forked).
-
-### License
-
-[GNU GPL v3](https://github.com/bk2dcradle/researcher/blob/gh-pages/LICENSE)
+My Personal Website
diff --git a/_config.yml b/_config.yml
@@ -1,24 +1,35 @@
-title: Researcher
-url: "https://ankitsultana.com"
-baseurl: "/researcher"
+
+title: Krishan Rana
+url: "https://krishanrana.github.io/"
+baseurl: ""
+#remote_theme: ankitsultana/researcher@gem
 
 markdown: kramdown
 #ins_logo: "./bits-logo.png"
 
 tracking_id: #
 
 footer: yes
-footer_url: "https://github.com/ankitsultana"
-footer_text: "Page design by Ankit Sultana"
+footer_url: "https://github.com/krishanrana"
+footer_text: "Teaching robots how to act"
 
 sass:
     style: compressed
     sass_dir: _sass
 
 nav:
- - name: "About"
-   link: "/researcher/"
  - name: "Resume"
    link: "resume.pdf"
- - name: "Contact"
-   link: "contact"
+ - name: "Google Scholar"
+   link: "https://scholar.google.com.au/citations?user=-hYjPxsAAAAJ&hl=en&oi=ao"
+ - name: "LinkedIn"
+   link: "https://www.linkedin.com/in/krishanrana/"
+ - name: "Twitter"
+   link: "https://twitter.com/krishanranaa"
+
+
+
+# author:
+#   name:       Krishan Rana
+#   url:        https://krishanrana.github.io/
+
diff --git a/_includes/head.html b/_includes/head.html
@@ -0,0 +1,9 @@
+<head>
+  <meta charset="UTF-8">
+  <title>{{ site.title }}</title>
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <meta name="theme-color" content="#157878">
+  <link rel="stylesheet" href="{{ site.baseurl }}/css/normalize.css">
+  <link href='https://fonts.googleapis.com/css?family=Open+Sans:400,700' rel='stylesheet' type='text/css'>
+  <link rel="stylesheet" href="{{ site.baseurl }}/css/cayman.css">
+</head>
diff --git a/_includes/page-footer.html b/_includes/page-footer.html
@@ -0,0 +1,3 @@
+<footer class="site-footer">
+  <span class="site-footer-owner">Site maintained by <a href="{{ site.url }}">Krishan Rana</a> | 2021</span>
+</footer>
diff --git a/_includes/page-header.html b/_includes/page-header.html
@@ -0,0 +1,9 @@
+<section class="page-header">
+  <h1 class="project-name">{{ page.title }}</h1>
+  <h2 class="project-tagline"><b>{{ page.tagline }}</b></h2>
+  <h2 class="project-tagline">{{ page.authors }}</h2>
+  <a href="https://arxiv.org/abs/2107.09822" class="btn">Paper</a>
+  <a href="https://github.com/krishanrana/bcf" class="btn">Code</a>
+  <a href="https://youtu.be/NjOz7-TqVlk" class="btn">Video</a>
+
+</section>
diff --git a/_includes/youtubePlayer.html b/_includes/youtubePlayer.html
@@ -0,0 +1,6 @@
+
+<div class="youtube-wrapper">
+    <p align=center>
+    <iframe src="https://www.youtube.com/embed/{{ include.id }}" allowfullscreen></iframe>
+    </p>
+</div>
diff --git a/_layouts/default.html b/_layouts/default.html
@@ -1,7 +1,7 @@
 <!DOCTYPE html>
 <html lang="en">
 <head>
-    <title>{% if page.title %}{{ page.title }}{% else %}{{ site.title }}{% endif %}</title>
+    <title>{% if page.title %}{{ page.title }}{% else %}{{ site.title }}{% endif %}</title> 
 
     <meta charset="utf-8">
     <meta name="viewport" content="width=device-width, initial-scale=1">
@@ -52,13 +52,15 @@
     {% else %}
         <meta name="twitter:image" content="{{ site.profile_picture }}">
     {% endif %}
+
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/p5.js/0.10.2/p5.js"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/p5.js/0.10.2/addons/p5.sound.min.js"></script>
 </head>
 <body>
     <div class="wrapper">
+
         <div class="navbar container">
-            {% if site.ins_logo %}
-                <img id="ins-logo" src="{{ site.ins_logo }}" />
-            {% endif %}
+
             <a id="author-name" class="alignable pull-left" href="{{ site.baseurl }}">{{ site.title }}</a>
             <ul id="navlist" class="alignable pull-right navbar-ul">
                 {% for x in site.nav %}
@@ -82,11 +84,19 @@
             <div class="container content">
         {% endif %}
                 {{ content }}
+                <script src="js/GridWorld.js"></script>
+                <script src="js/QAgent.js"></script>
+                <script src="js/Count.js"></script>
+                <!--<p align="center"><iframe style="width: 100px; height: 107px; overflow: hidden;"  frameborder="0" scrolling="no" src="https://editor.p5js.org/krishanrana/embed/1bngpYaRU"></iframe></p>-->
+                <script src="js/Particles.js"></script>
+                <script src="js/sketch.js"></script>
+
                 {% if site.footer == true %}
                     <hr />
                     <p style="text-align: center; margin-bottom: 10px">
                     <a href="{{ site.footer_url }}" style="color: black"><small>{{ site.footer_text }}</small></a>
                     </p>
+                    </br>
                 {% endif %}
             </div>
     </div>

diff --git a/_layouts/default_cayman.html b/_layouts/default_cayman.html
@@ -0,0 +1,18 @@
+<!DOCTYPE html>
+<html lang="{{ site.locale }}">
+
+  {% include head.html %}
+
+  <body>
+    {% include page-header.html %}
+
+    <section class="main-content">
+
+      {{ content }}
+
+      {% include page-footer.html %}
+
+    </section>
+
+  </body>
+</html>
diff --git a/_layouts/page.html b/_layouts/page.html
@@ -0,0 +1,5 @@
+---
+layout: default_cayman
+---
+
+{{ content }}
diff --git a/_layouts/post.html b/_layouts/post.html
@@ -0,0 +1,5 @@
+---
+layout: default_cayman
+---
+
+{{ content }}
diff --git a/_layouts/reskill.html b/_layouts/reskill.html
@@ -0,0 +1,23 @@
+<!DOCTYPE html>
+<html lang="{{ site.locale }}">
+
+  {% include head.html %}
+
+  <body>
+<!--     {% include page-header.html %} -->
+    <section class="page-header">
+  <h1 class="project-name">{{ page.title }}</h1>
+  <h2 class="project-tagline"><b>{{ page.tagline }}</b></h2>
+  <h2 class="project-tagline">{{ page.authors }}</h2>
+  <a href="https://arxiv.org/abs/2211.02231" class="btn">Paper</a>
+  <a href="https://github.com/krishanrana/reskill" class="btn">Code</a>
+  </section>
+
+    <section class="main-content">
+
+      {{ content }}
+      {% include page-footer.html %}
+    </section>
+
+  </body>
+</html>
diff --git a/_posts/2016-02-12-sample-content.markdown b/_posts/2016-02-12-sample-content.markdown
@@ -0,0 +1,24 @@
+---
+layout: default
+title:  "Welcome to Jekyll!"
+date:   2016-02-12 17:50:00
+categories: main
+---
+
+You'll find this post in your `_posts` directory - edit this post and re-build (or run with the `-w` switch) to see your changes!
+To add new posts, simply add a file in the `_posts` directory that follows the convention: YYYY-MM-DD-name-of-post.ext.
+
+Jekyll also offers powerful support for code snippets:
+
+{% highlight ruby %}
+def print_hi(name)
+  puts "Hi, #{name}"
+end
+print_hi('Tom')
+#=> prints 'Hi, Tom' to STDOUT.
+{% endhighlight %}
+
+Check out the [Jekyll docs][jekyll] for more info on how to get the most out of Jekyll. File all bugs/feature requests at [Jekyll's GitHub repo][jekyll-gh].
+
+[jekyll-gh]: https://github.com/mojombo/jekyll
+[jekyll]:    http://jekyllrb.com
diff --git a/_sass/typography.scss b/_sass/typography.scss
@@ -40,9 +40,26 @@
         height: $image-size;
         width: $image-size;
         position: relative;
+        margin: -10px 15px 0 15px;
+        float: left;
+        border-radius: 50%;
+        p & {
+            padding: 0;
+            margin: 0;
+        }
+        @media (max-width: $small-width) {
+            img {
+                margin-top: -5px;
+            }
+        }
+    }
+    .project-picture {
+        height: $image-height;
+        width: $image-width;
+        position: relative;
         margin: -10px 0 0 15px;
         float: right;
-        border-radius: 50%;
+        border-radius: 10%;
         p & {
             padding: 0;
             margin: 0;
@@ -53,6 +70,8 @@
             }
         }
     }
+
+
     img {
         text-align: center;
         width: 100%;

diff --git a/_sass/vars.scss b/_sass/vars.scss
@@ -2,8 +2,10 @@
  * Customization Variables
  */
 
-$accent: #FF0F00;
+$accent: #0800a6;
 $image-size: 85px;
+$image-width: 170px;
+$image-height: 85px;
 
 /*
  * Build Variables, don't touch

diff --git a/bcf.md b/bcf.md
@@ -0,0 +1,45 @@
+---
+title: Bayesian Controller Fusion
+filename: bcf/
+layout: post
+youtubeId: NjOz7-TqVlk
+tagline: Leveraging Control Priors in Deep Reinforcement Learning for Robotics
+authors: Krishan Rana*, Vibhavari Dasagi, Jesse Haviland, Ben Talbot, Michael Milford and Niko Suenderhauf
+--- 
+
+## Summary
+
+<p align="center">
+  <img src="/images/bcf_system.png" />
+</p>
+<p align="center">
+    <em>Bayesian Controller Fusion System Diagram</em>
+</p>
+
+<br/><br/>
+We present Bayesian Controller Fusion (BCF): a hybrid control strategy that combines the strengths of traditional hand-crafted controllers and model-free deep reinforcement learning (RL). BCF thrives in the robotics domain, where reliable but suboptimal control priors exist for many tasks, but RL from scratch remains unsafe and data-inefficient. By fusing uncertainty-aware distributional outputs from each system, BCF arbitrates control between them, exploiting their respective strengths. We study BCF on two real-world robotics tasks involving navigation in a vast and long-horizon environment, and a complex reaching task that involves manipulability maximisation. For both these domains, there exist simple handcrafted controllers that can solve the task at hand in a risk-averse manner but do not necessarily exhibit the optimal solution given limitations in analytical modelling, controller miscalibration and task variation. As exploration is naturally guided by the prior in the early stages of training, BCF accelerates learning, while substantially improving beyond the performance of the control prior, as the policy gains more experience. More importantly, given the risk-aversity of the control prior, BCF ensures safe exploration and deployment, where the control prior naturally dominates the action distribution in states unknown to the policy. We additionally show BCF's applicability to the zero-shot sim-to-real setting and its ability to deal with out-of-distribution states in the real-world. BCF is a promising approach for combining the complementary strengths of deep RL and traditional robotic control, surpassing what either can achieve independently.
+<br/><br/>
+
+## Supplementary Video
+
+<p align="center">
+  {% include youtubePlayer.html id=page.youtubeId %}
+</p>
+<br/><br/>
+
+## Citation
+```
+  @article{rana2021bayesian,
+    title={Bayesian Controller Fusion: Leveraging Control Priors in Deep Reinforcement Learning for Robotics},
+    author={Rana, Krishan and Dasagi, Vibhavari and Haviland, Jesse and Talbot, Ben and Milford, Michael and S{\"u}nderhauf, Niko},
+    journal={arXiv preprint arXiv:2107.09822},
+    year={2021}
+  }
+```
+<br/><br/>
+
+## Research Support
+
+<p align="center">
+  <img src="/images/logos.png" />
+</p>
diff --git a/bits-logo.png b/bits-logo.png
diff --git a/contact.md b/contact.md