-
Notifications
You must be signed in to change notification settings - Fork 0
/
index.html
executable file
·699 lines (619 loc) · 25.5 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<!-- ======================================================================= -->
<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.8.2/jquery.min.js" type="text/javascript"></script>
<style type="text/css">
body {
font-family: "Crimson Text","HelveticaNeue-Light", "Helvetica Neue Light", "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif;
font-weight:300;
font-size:18px;
margin-left: auto;
margin-right: auto;
width: 100%;
}
pre {
background-color: #f6f8fa;
padding: 16px;
}
code {
font-family: "SFMono-Regular","Consolas","Liberation Mono","Menlo",monospace;
overflow: scroll;
}
.description {
max-width: 1000px;
padding: 0px;
}
h1 {
font-family: "Source Sans Pro";
font-weight:300;
}
div {
max-width: 95%;
margin:auto;
padding: 10px;
}
.table-like {
display: flex;
flex-wrap: wrap;
flex-flow: row wrap;
justify-content: center;
}
.box {
padding: 0px;
text-align: center;
width: 50%;
}
@media screen and (max-width: 1279px) {
.box {
width: 100%;
}
}
.table-like hr {
width: 100%;
flex-basis: 100%;
height: 0;
margin: 0;
border: 0;
}
.disclaimerbox {
background-color: #eee;
border: 1px solid #eeeeee;
border-radius: 10px ;
-moz-border-radius: 10px ;
-webkit-border-radius: 10px ;
padding: 20px;
}
video.header-vid {
height: 140px;
border: 1px solid black;
border-radius: 10px ;
-moz-border-radius: 10px ;
-webkit-border-radius: 10px ;
}
img {
padding: 0;
display: block;
margin: 0 auto;
max-height: 100%;
max-width: 100%;
}
iframe {
max-width: 100%;
}
img.header-img {
height: 140px;
border: 1px solid black;
border-radius: 10px ;
-moz-border-radius: 10px ;
-webkit-border-radius: 10px ;
}
img.rounded {
border: 1px solid #eeeeee;
border-radius: 10px ;
-moz-border-radius: 10px ;
-webkit-border-radius: 10px ;
}
a:link,a:visited
{
color: #1367a7;
text-decoration: none;
}
a:hover {
color: #208799;
}
td.dl-link {
height: 160px;
text-align: center;
font-size: 22px;
}
.layered-paper-big { /* modified from: http://css-tricks.com/snippets/css/layered-paper/ */
box-shadow:
0px 0px 1px 1px rgba(0,0,0,0.35), /* The top layer shadow */
5px 5px 0 0px #fff, /* The second layer */
5px 5px 1px 1px rgba(0,0,0,0.35), /* The second layer shadow */
10px 10px 0 0px #fff, /* The third layer */
10px 10px 1px 1px rgba(0,0,0,0.35), /* The third layer shadow */
15px 15px 0 0px #fff, /* The fourth layer */
15px 15px 1px 1px rgba(0,0,0,0.35), /* The fourth layer shadow */
20px 20px 0 0px #fff, /* The fifth layer */
20px 20px 1px 1px rgba(0,0,0,0.35), /* The fifth layer shadow */
25px 25px 0 0px #fff, /* The fifth layer */
25px 25px 1px 1px rgba(0,0,0,0.35); /* The fifth layer shadow */
margin-left: 10px;
margin-right: 45px;
}
.layered-paper { /* modified from: http://css-tricks.com/snippets/css/layered-paper/ */
box-shadow:
0px 0px 1px 1px rgba(0,0,0,0.35), /* The top layer shadow */
5px 5px 0 0px #fff, /* The second layer */
5px 5px 1px 1px rgba(0,0,0,0.35), /* The second layer shadow */
10px 10px 0 0px #fff, /* The third layer */
10px 10px 1px 1px rgba(0,0,0,0.35); /* The third layer shadow */
margin-top: 5px;
margin-left: 10px;
margin-right: 30px;
margin-bottom: 5px;
}
.vert-cent {
position: relative;
top: 50%;
transform: translateY(-50%);
}
hr
{
border: 0;
height: 1px;
max-width: 1100px;
background-image: linear-gradient(to right, rgba(0, 0, 0, 0), rgba(0, 0, 0, 0.75), rgba(0, 0, 0, 0));
}
#authors td {
padding-bottom:5px;
padding-top:30px;
}
.mySlides {display: none}
/* Slideshow container */
.slideshow-container {
max-width: 1280px;
position: relative;
margin: auto;
}
/* Next & previous buttons */
.prev, .next {
cursor: pointer;
position: absolute;
top: 50%;
width: auto;
padding: 16px;
margin-top: -22px;
color: rgb(0, 0, 0);
font-weight: bold;
font-size: 25px;
transition: 0.6s ease;
border-radius: 0 3px 3px 0;
user-select: none;
}
/* Position the "next button" to the right */
.next {
right: 0;
border-radius: 3px 0 0 3px;
}
/* On hover, add a black background color with a little bit see-through */
.prev:hover, .next:hover {
background-color: rgba(0,0,0,0.8);
}
/* Caption text */
.caption {
color: #000000;
font-size: 25;
width: 100%;
text-align: center;
padding: 0px;
}
/* Number text (1/3 etc) */
.numbertext {
color: #000000;
font-size: 18px;
padding: 8px 12px;
position: absolute;
top: 0;
}
/* The dots/bullets/indicators */
.dot {
cursor: pointer;
height: 15px;
width: 15px;
margin: 0 2px;
background-color: #bbb;
border-radius: 50%;
display: inline-block;
transition: background-color 0.6s ease;
}
.active, .dot:hover {
background-color: #717171;
}
/* Fading animation */
.fade {
animation-name: fade;
animation-duration: 1.5s;
}
@keyframes fade {
from {opacity: .4}
to {opacity: 1}
}
/* On smaller screens, decrease text size */
@media only screen and (max-width: 300px) {
.prev, .next,.text {font-size: 11px}
}
</style>
<script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
<script type="text/javascript" id="MathJax-script" async
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-chtml.js">
</script>
<link href="https://fonts.googleapis.com/css2?family=Source+Sans+Pro:ital,wght@0,400;0,600;1,400&display=swap" rel="stylesheet">
<link href="https://fonts.googleapis.com/css2?family=Crimson+Text:ital,wght@0,400;0,600;1,400&display=swap" rel="stylesheet">
<script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
<script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
<head>
<div max-width=100%>
<meta charset="utf-8" />
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
<title>Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning</title>
<meta name="HandheldFriendly" content="True" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<meta name="referrer" content="no-referrer-when-downgrade" />
</head>
<body>
<br>
<center><span style="font-size:44px;font-weight:bold;font-family:Source Sans Pro;">Self-Improving Robots:<br> End-to-End Autonomous Visuomotor Reinforcement Learning</span></center><br/>
<div class="table-like" style="justify-content:space-evenly;max-width:900px;margin:auto;">
<hr>
<center><span style="font-size:25px" class="line-break">Archit Sharma<sup>§</sup>, Ahmed M. Ahmed<sup>§</sup>, Rehaan Ahmad, Chelsea Finn</span></center>
</div>
<div class="table-like" style="justify-content:space-evenly;max-width:900px;margin:auto;">
<hr>
<center><span style="font-size:25px" class="line-break">Stanford University</span></center>
</div>
<div class="table-like" style="justify-content:space-evenly;max-width:900px;margin:auto;">
<hr>
<center><span style="font-size:20px" class="line-break"><a href="https://arxiv.org/abs/2303.01488" target="_blank">Paper</a>
<a href="https://github.com/rehaanahmad2013/self-improving-robots/" target="_blank"> Code</a> </span></center>
</div>
<div class="table-like" style="max-width:900px;">
<hr>
<span style="background-color:aliceblue;font-size:15px;" class="line-break"><sup>§</sup> Authors with substantial contributions to real-robot experimentation</span>
</div>
<div style="max-width:900px">
<hr>
<center><h1>Overview</h1></center>
<p>
<b>Summary.</b> In imitation and reinforcement learning, the cost of
human supervision limits the amount of data that robots can be
trained on. An aspirational goal is to construct self-improving
robots: robots that can learn and improve on their own, from
autonomous interaction with minimal human supervision or
oversight. Such robots could collect and train on much larger
datasets, and thus learn more robust and performant policies.
MEDAL++ is an autonomous reinforcement learning algorithm that trains a forward policy to do the task,
and a backward policy to undo the task towards states visited by an expert. Starting with a small set
of demonstrations collected by an expert, the forward and backward policy interact with the environment
in a cyclic fashion, switching control after a fixed number of steps. Chaining the forward and backward
policies allows the robot to self-improve, minimizing the need for humans to reset the environment after
every episode. Importantly, MEDAL++ learns end-to-end from high-dimensional visual inputs and learns the
reward function from the expert demonstrations, bypassing the need for reward engineering. In contrast to
prior work, this allows MEDAL++ to be applied in the real world, improving the success rate by 30-70%
over behavior cloning policies in practice. Overall, MEDAL++ takes a step towards simple and general
self-improving robotic systems.
</p>
<div class="table-like" style="justify-content:space-evenly;margin:auto;padding:0px;">
<div>
<video width="800" autoplay muted loop>
<source src="resources/overview.mp4" type="video/mp4">
</video>
</div>
</div>
<p>
This website features autonomous training and evaluation videos of MEDAL++ on three manipulation tasks using the Franka Panda arm: cloth hanging, peg insertion and bowl covering.
</p>
</div>
<div style="width:1280; margin:0 auto; text-align=left" align="left">
<hr>
<center id="videos"><h1>Cloth Hanging</h1></center>
<div class="description">
<p style="text-align:center">
This task requires the robot to grasp a cloth and hang it on a fixed hook. The cloth itself can be in any location and arbitrary shape.
</p>
</div>
<div class="table-like" style="justify-content:space-evenly;margin:auto;padding:0px;">
<div class="caption">Annotated Training Video</div>
<p>
An annotated segment of training using MEDAL++, showing how forward and backward policies interact to enable the robot to practice autonomously.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/cloth_hook/cloth_detailed.mp4" type="video/mp4">
</video>
</div>
<div class="caption">Training Timelapse</div>
<p>
A timelapse of training, showing the diverse set of states visited by the robot and, failures and successes of the policy.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/cloth_hook/timelapse_compressed.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="slideshow-container" id="cloth-hook-container">
<div class="mySlides fade">
<div class="numbertext">1 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/medal/s1.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/bc/f2.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">2 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/medal/s2.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/bc/f1.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">3 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/medal/s3.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/cloth_hook/bc/f3.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<a class="prev" onclick="slideshow3.plusSlides(-1)">❮</a>
<a class="next" onclick="slideshow3.plusSlides(1)">❯</a>
</div>
<br>
<div id="cloth-hook-dots" style="text-align:center">
<span class="dot" onclick="slideshow3.currentSlide(1)"></span>
<span class="dot" onclick="slideshow3.currentSlide(2)"></span>
<span class="dot" onclick="slideshow3.currentSlide(3)"></span>
</div>
</div>
<div style="width:1280; margin:0 auto; text-align=left" align="left">
<hr>
<center id="videos"><h1>Peg Insertion</h1></center>
<div class="description">
<p style="text-align:center">
This task requires the robot to insert a peg into the goal location, marked by a green boundary.
</p>
</div>
<div class="table-like" style="justify-content:space-evenly;margin:auto;padding:0px;">
<div class="caption">Annotated Training Video</div>
<p>
An annotated segment of training using MEDAL++, showing how forward and backward policies interact to enable the robot to practice autonomously.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/peg_insertion/peg_detailed.mp4" type="video/mp4">
</video>
</div>
<div class="caption">Training Timelapse</div>
<p>
A timelapse of training, showing the diverse set of states visited by the robot and, failures and successes of the policy.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/peg_insertion/timelapse_final.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="slideshow-container" id="peg-insertion-container">
<div class="mySlides fade">
<div class="numbertext">1 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/medal/s1.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/bc/f3.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">2 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/medal/s2.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/bc/fail1_fast.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">3 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/medal/s3.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/peg_insertion/bc/fail2.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<a class="prev" onclick="slideshow1.plusSlides(-1)">❮</a>
<a class="next" onclick="slideshow1.plusSlides(1)">❯</a>
</div>
<br>
<div id="peg-insertion-dots" style="text-align:center">
<span class="dot" onclick="slideshow1.currentSlide(1)"></span>
<span class="dot" onclick="slideshow1.currentSlide(2)"></span>
<span class="dot" onclick="slideshow1.currentSlide(3)"></span>
</div>
</div>
<div style="width:1280; margin:0 auto; text-align=left" align="left">
<hr>
<center id="videos"><h1>Bowl Cover</h1></center>
<div class="description">
<p style="text-align:center">
This task requires the robot to cover a bowl using a cloth. The cloth itself can be in any location and arbitrary shape.
</p>
</div>
<div class="table-like" style="justify-content:space-evenly;margin:auto;padding:0px;">
<div class="caption">Annotated Training Video</div>
<p>
An annotated segment of training using MEDAL++, showing how forward and backward policies interact to enable the robot to practice autonomously.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/bowl_cover/bowl_detailed.mp4" type="video/mp4">
</video>
</div>
<div class="caption">Training Timelapse</div>
<p>
A timelapse of training, showing the diverse set of states visited by the robot and, failures and successes of the policy.
</p>
<div>
<video width="800" autoplay muted loop>
<source src="resources/bowl_cover/bowl_cover_timelapse_final.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="slideshow-container" id="bowl-cover-container">
<div class="mySlides fade">
<div class="numbertext">1 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/medal/s3.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/bc/f1.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">2 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/medal/s2.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/bc/f2.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="mySlides fade">
<div class="numbertext">3 / 3</div>
<div class="caption">Evaluation Videos</div>
<div class="table-like" style="justify-content:space-evenly-width:100%;margin:auto;padding:0px;">
<div class="box">
<center><p align="center"><h3>MEDAL++<h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/medal/s1.mp4" type="video/mp4">
</video>
</div>
<div class="box">
<center><p align="center"><h3>BC</h3></p></center>
<video width="400" autoplay muted loop>
<source src="resources/bowl_cover/bc/f3.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<a class="prev" onclick="slideshow2.plusSlides(-1)">❮</a>
<a class="next" onclick="slideshow2.plusSlides(1)">❯</a>
</div>
<br>
<div id="bowl-cover-dots" style="text-align:center">
<span class="dot" onclick="slideshow2.currentSlide(1)"></span>
<span class="dot" onclick="slideshow2.currentSlide(2)"></span>
<span class="dot" onclick="slideshow2.currentSlide(3)"></span>
</div>
</div>
<div style="width:800px; margin:0 auto" align="center">
<hr>
<p>Template credits: <a href="https://bland.website/spartn/" target="_blank">NeRF in the Palm of Your Hand</a></p>
</div>
<script>
const Slideshow = {
slideIndex: 1,
name: "",
plusSlides(n) {
this.showSlides(this.slideIndex += n);
},
currentSlide(n) {
this.showSlides(this.slideIndex = n);
},
showSlides(n) {
let i;
let container = document.getElementById(this.name + "-container")
let slides = container.getElementsByClassName("mySlides");
let dots = document.getElementById(this.name + "-dots").getElementsByClassName("dot");
if (n > slides.length) {this.slideIndex = 1}
if (n < 1) {this.slideIndex = slides.length}
for (i = 0; i < slides.length; i++) {
slides[i].style.display = "none";
}
for (i = 0; i < dots.length; i++) {
dots[i].className = dots[i].className.replace(" active", "");
}
slides[this.slideIndex-1].style.display = "block";
dots[this.slideIndex-1].className += " active";
}
}
slideshow1 = Object.create(Slideshow);
slideshow1.name = "peg-insertion"
slideshow1.showSlides(slideshow1.slideIndex);
slideshow2 = Object.create(Slideshow);
slideshow2.name = "bowl-cover"
slideshow2.showSlides(slideshow2.slideIndex);
slideshow3 = Object.create(Slideshow);
slideshow3.name = "cloth-hook"
slideshow3.showSlides(slideshow3.slideIndex);
</script>
</body>
</html>