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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<title>JuggleRL: Mastering Ball Juggling with a Quadrotor via Deep Reinforcement Learning</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="color-scheme" content="dark">
<style>
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</style>
</head>
<body>
  <!-- 顶部导航：保留 arXiv + 三个 GitHub 链接 -->
  <div class="topbar">
    <div class="title">JuggleRL: Mastering Ball Juggling with a Quadrotor via Deep Reinforcement Learning</div>
    <div class="pills">
      <a class="pill" href="https://arxiv.org/abs/2509.24892" target="_blank" rel="noopener">📄 arXiv</a>
      <a class="pill" href="https://github.com/thu-uav/JuggleRL_train" target="_blank" rel="noopener">Training</a>
      <a class="pill" href="https://github.com/thu-uav/JuggleRL_rospack" target="_blank" rel="noopener">ROS Pack</a>
      <a class="pill" href="https://github.com/thu-uav/JuggleRL_NatNetSDK" target="_blank" rel="noopener">NatNet SDK</a>
    </div>
  </div>

  <div class="wrap">
    <!-- Overview + Hero 图 -->
    <div class="grid">
      <div class="card">
        <h2>Overview</h2>
        <p><b>Highlights</b></p>
        <ul>
          <li><b>Zero-shot sim-to-real</b> deployment (no real data for training)</li>
          <li><b>Calibrated dynamics + domain randomization</b> reduce sim-to-real gap</li>
          <li><b>Lightweight Communication Protocol (LCP)</b> for low-latency streaming</li>
          <li><b>Real-world performance</b>: up to <b>462</b> hits (avg <b>311</b> across 10 trials)</li>
        </ul>
        <p>This page hosts figures, demo videos, and links to paper &amp; code.</p>
      </div>
      <div class="card">
        <!-- 可放一张系统图：assets/system_overview.png -->
        <img class="heroimg" src="assets/system_overview.png" alt="System Diagram / Teaser" onerror="this.style.display='none'">
      </div>
    </div>

    <!-- Links + Metrics -->
    <div class="grid" style="margin-top:14px">
      <div class="card">
        <h3>Project Links</h3>
        <ul>
          <li><b>Paper:</b> <a href="https://arxiv.org/abs/2509.24892" target="_blank" rel="noopener">arXiv:2509.24892</a></li>
          <li><b>Training:</b> <a href="https://github.com/thu-uav/JuggleRL_train" target="_blank" rel="noopener">GitHub</a></li>
          <li><b>ROS Pack:</b> <a href="https://github.com/thu-uav/JuggleRL_rospack" target="_blank" rel="noopener">GitHub</a></li>
          <li><b>NatNet SDK:</b> <a href="https://github.com/thu-uav/JuggleRL_NatNetSDK" target="_blank" rel="noopener">GitHub</a></li>
        </ul>
      </div>
      <div class="card">
        <h3>Key Metrics</h3>
        <div class="info3">
          <div class="metric"><div class="k">462</div><div>Max real-world hits</div></div>
          <div class="metric"><div class="k">311</div><div>Avg hits (10 trials)</div></div>
          <div class="metric"><div class="k">0</div><div>Real data for training</div></div>
        </div>
      </div>
    </div>

    <!-- Figures 画廊：自动读取 assets/ 下图片（简单：按固定文件名；或手工列出） -->
    <div class="card" style="margin-top:14px">
      <h3>Figures</h3>
      <div class="gallery">
        <!-- 你可以按需要增删文件名 -->
        <img src="assets/overview.png" alt="Figure 1" onerror="this.style.display='none'">
      </div>
    </div>

    <!-- Bilibili -->
    <div class="card" style="margin-top:14px">
      <h3>Real-world Video (Bilibili)</h3>
      <div style="position:relative;padding-top:56.25%;">
        <iframe src="https://player.bilibili.com/player.html?bvid=BV1hKxDzrEw5&autoplay=0"
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          style="position:absolute;top:0;left:0;width:100%;height:100%;">
        </iframe>
      </div>
    </div>

    <!-- BibTeX -->
    <div class="card" style="margin-top:14px">
      <details>
        <summary>BibTeX</summary>
<pre>
@article{JuggleRL2025,
  title   = {JuggleRL: Mastering Ball Juggling with a Quadrotor via Deep Reinforcement Learning},
  author  = {Your Name and Coauthors},
  journal = {arXiv preprint arXiv:2509.24892},
  year    = {2025}
}
</pre>
      </details>
    </div>

    <div class="footer">© 2025 JuggleRL Team · Hosted on Hugging Face Spaces</div>
  </div>
</body>
</html>