SI-Diff/index.html at master · yorklyb/SI-Diff · GitHub

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<!DOCTYPE html>
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  <title>SI-Diff</title>
  <meta name="description" content="SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy">
  <meta property="og:title" content="SI-Diff: Search-Insertion Diffusion Framework"/>
  <meta property="og:description" content="A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy"/>
  <meta property="og:url" content="https://yorklyb.github.io/SI-Diff/"/>
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  <meta name="twitter:title" content="SI-Diff: Search-Insertion Diffusion Framework">
  <meta name="twitter:description" content="A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy.">
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  <meta name="keywords" content="robotics, diffusion, force control, insertion, search policy">

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<body>

  <!-- ===== Hero Section ===== -->
  <section class="hero">
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      <div class="container is-max-desktop">
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          <div class="column has-text-centered">

            <h1 class="title is-1 publication-title">
              <span class="hippo-gradient">SI-Diff</span>:
              A Framework for Learning
              <span class="hippo-gradient">S</span>earch and High-Precision
              <span class="hippo-gradient">I</span>nsertion with a Force-Domain
              <span class="hippo-gradient">Diff</span>usion Policy
            </h1>

             <h1 class="is-size-3 publication-title">
              RA-L 2026 & ICRA 2027
            </h1>

            <div class="is-size-5 publication-authors">
              <span class="author-block">
                <a href="https://yorklyb.github.io/" target="_blank">Yibo Liu</a>, <a href="https://www.linkedin.com/in/stanko-oparnica/" target="_blank"> Stanko Oparnica
</a>, <a href="https://www.linkedin.com/in/simonsjak/" target="_blank"> Simon Shewchun-Jakaitis
</a>, <a href="https://www.linkedin.com/in/gary-fu-02833632/" target="_blank"> Guoyi (Gray) Fu</a>,
                 <br>
                <a href="https://www.linkedin.com/in/jie-wang-7748218/" target="_blank"> Wang Jie</a>,
         <a href=" https://www.trailab.utias.utoronto.ca/jun-yang" target="_blank"> Jun Yang</a>,
                <a href=" https://www.linkedin.com/in/anandjagannathan/" target="_blank"> Jagannathan, Anand</a>,
               <a href=" https://www.linkedin.com/in/tonyhongyaulo/" target="_blank"> Tony Lo</a>

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                <a href="https://arxiv.org/pdf/2605.12247" target="_blank"
                class="external-link button is-normal is-rounded is-dark">
                  <span class="icon"><i class="fas fa-file-pdf"></i></span>
                  <span>ArXiv</span>
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              <span class="link-block">
                <a href="https://ieeexplore.ieee.org/document/11520677" target="_blank"
                class="external-link button is-normal is-rounded is-dark">
                  <span class="icon"><i class="fas fa-file-pdf"></i></span>
                  <span>Paper</span>
                </a>
              </span>

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                <a href="https://github.com/yorklyb/SI-Diff" target="_blank"
                class="external-link button is-normal is-rounded is-dark">
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                  <span>GitHub</span>
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<!-- ===== Overview Introduction ===== -->
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">
  <div class="container">
    <div class="hero-body has-text-centered">

      <!-- 标题 -->
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        Overview Introduction
      </h2>

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      ">
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          controls
          autoplay
          muted
          loop
          playsinline
          style="
            width: 100%;
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          "
        >
          <source src="static/videos/sidiff.m4v" type="video/mp4">
        </video>
      </div>

    </div>
  </div>
</section>


  <!-- 图片 + 两个竖屏视频 并排显示 -->
<section class="hero">
  <div class="container is-max-desktop">
    <div class="hero-body has-text-centered">
      <h2 class="section-subtitle">Training Shape</h2>
      <div class="media-row">

        <!-- 图片 -->
        <div class="media-item">
          <img src="static/images/cub.png" alt="Demo Image">
          <p class="caption">Cuboid Peg <br> 35 mm × 25 mm × 60 mm <br> 0.1 mm clearance</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Cub2mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">2 mm</p>
        </div>

        <!-- 第二个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Cub5mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>

   <!-- 图片 + 两个竖屏视频 并排显示 -->
<section class="hero">
  <div class="container is-max-desktop">
    <div class="hero-body has-text-centered">
      <h2 class="section-subtitle">Unseen Shapes</h2>
      <div class="media-row">

        <!-- 图片 -->
        <div class="media-item">
          <img src="static/images/hex.png" alt="Demo Image">
          <p class="caption">Hexagonal prism <br> 60 mm × 19 mm (flat-to-flat) <br> 0.1 mm
clearance</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Hex2mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">2 mm</p>
        </div>

        <!-- 第二个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Hex5mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>


    <!-- 图片 + 两个竖屏视频 并排显示 -->
<section class="hero">
  <div class="container is-max-desktop">
    <div class="hero-body has-text-centered">
      <div class="media-row">

        <!-- 图片 -->
        <div class="media-item">
          <img src="static/images/pen.png" alt="Demo Image">
          <p class="caption">Pentagonal prism <br> 60 mm × 19 mm (flat-to-flat) <br> 0.1 mm clearance</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Pen2mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">2 mm</p>
        </div>

        <!-- 第二个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Pen5mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>

  <!-- 图片 + 两个竖屏视频 并排显示 -->
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  <div class="container is-max-desktop">
    <div class="hero-body has-text-centered">
      <div class="media-row">

        <!-- 图片 -->
        <div class="media-item">
          <img src="static/images/tri.png" alt="Demo Image">
          <p class="caption">Triangular prism <br> 60 mm long with a side length
of 34 mm <br> 0.1 mm clearance</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Tri2mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">2 mm</p>
        </div>

        <!-- 第二个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Tri5mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>

    <!-- 图片 + 两个竖屏视频 并排显示 -->
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      <div class="media-row">

        <!-- 图片 -->
        <div class="media-item">
          <img src="static/images/cyc.png" alt="Demo Image">
          <p class="caption">Cylinder <br> 60 mm long with a diameter of
20 mm <br> 0.1 mm clearance</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Cir2mm-1.m4v" type="video/mp4">
          </video>
          <p class="caption">2 mm</p>
        </div>

        <!-- 第二个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Cir5mm.mp4" type="video/mp4">
          </video>
          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>


      <!-- 图片 + 两个竖屏视频 并排显示 -->
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      <div class="media-row">

        <!-- 图片 -->
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          <p class="caption">Standard USB-A</p>
        </div>

        <!-- 第一个视频 -->
        <div class="media-item">
          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Usb2mm.mp4" type="video/mp4">
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          <p class="caption">2 mm</p>
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          <video controls autoplay muted loop playsinline>
            <source src="static/videos/Usb5mm.mp4" type="video/mp4">
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          <p class="caption">5 mm</p>
        </div>

      </div>
    </div>
  </div>
</section>

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  <strong>Citation:</strong>
  <pre id="citation-text" style="white-space: pre-wrap; font-family: monospace; background-color: #fff; padding: 0.5em; border-radius: 4px; border: 1px solid #ddd; text-align: left;">
@ARTICLE{11520677,
  author={Liu, Yibo and Oparnica, Stanko and Shewchun-Jakaitis, Simon and Fu, Guoyi and Wang, Jie and Yang, Jun and Jagannathan, Anand and Lo, Tony Hong-Yau},
  journal={IEEE Robotics and Automation Letters},
  title={SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy},
  year={2026},
  volume={},
  number={},
  pages={1-8},
  keywords={Modeling;Learning (artificial intelligence);Force;Training;Field-flow fractionation;Shape;Trajectory;Conferences;Forging;6-DOF;Force and Tactile Sensing;Assembly;Force Control;Diffusion Policy},
  doi={10.1109/LRA.2026.3693991}}
  </pre>
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