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‎app/(default)/(project)/TAMEn/assets/TAMEn_demo_video.mp4‎

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‎app/(default)/(project)/TAMEn/chart/generalization-unseen.tsx‎

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"use client";
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import { Bar, BarChart, CartesianGrid, LabelList, XAxis, YAxis } from "recharts";
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import { Card, CardContent, CardFooter, CardHeader, CardTitle } from "@/components/ui/card";
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import { ChartContainer, ChartTooltip } from "../ui/chart";
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const chartData = [
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{ phase: "Herbal Transfer", vision: 0, ours: 60 },
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{ phase: "Cable Mounting", vision: 0, ours: 30 },
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{ phase: "Binder Clip Removal", vision: 30, ours: 60 },
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];
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const chartConfig = {
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vision: { label: "Ours (Vision-Only)", color: "#B8C9F0" },
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ours: { label: "Ours (+ Pretrain + DAgger)", color: "#3D56C8" },
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};
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const robustnessWholeTaskData = [
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{
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task: "Herbal Transfer",
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visionFull: 0,
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visionPost: 10,
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oursFull: 0,
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oursPost: 70,
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},
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{
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task: "Cable Mounting",
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visionFull: 0,
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visionPost: 0,
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oursFull: 30,
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oursPost: 40,
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},
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];
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const robustnessConfig = {
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visionFull: { label: "Vision-Only (Full Dist.)", color: "#DDE8FF" },
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visionPost: { label: "Vision-Only (Post-Grasp Dist.)", color: "#8FB2FF" },
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oursFull: { label: "Ours (+ Pretrain + DAgger) Full Dist.", color: "#4F7BFF" },
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oursPost: { label: "Ours (+ Pretrain + DAgger) Post-Grasp Dist.", color: "#1E3FAF" },
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};
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export function GeneralizationUnseenChart() {
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return (
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<Card className="border border-white/20 bg-black/60 text-white">
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<CardHeader className="pb-2 md:pb-3">
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<CardTitle className="text-sm md:text-base">
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Generalization to unseen objects
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</CardTitle>
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<p className="text-[11px] md:text-xs text-white/70">
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Visuo-tactile learning with tactile pretraining and DAgger significantly
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improves performance on unseen objects.
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</p>
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</CardHeader>
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<CardContent className="p-2 md:p-3">
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<ChartContainer config={chartConfig} className="!aspect-auto h-[210px] md:h-[235px]">
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<BarChart
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data={chartData}
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margin={{ top: 12, bottom: 6, left: 4, right: 4 }}
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barCategoryGap="18%"
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barGap={2}
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>
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<CartesianGrid vertical={false} />
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<XAxis
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dataKey="phase"
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tickLine={false}
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axisLine={false}
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tickMargin={8}
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angle={0}
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textAnchor="middle"
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interval={0}
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height={28}
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/>
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<YAxis domain={[0, 100]} tickLine={false} axisLine={false} />
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<ChartTooltip
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cursor={false}
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shared={false}
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content={({ active, payload, label }) => {
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if (!active || !payload?.length) return null;
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const entry = payload[payload.length - 1];
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const key = String(entry.dataKey) as keyof typeof chartConfig;
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const fullLabel = chartConfig[key]?.label || key;
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return (
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<div className="rounded-md border border-white/20 bg-black/95 px-3 py-2 text-xs text-white shadow-md">
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<div className="font-semibold mb-1">{label}</div>
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<div className="flex items-center justify-between gap-3">
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<span className="text-white/80">{fullLabel}</span>
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<span className="font-semibold">{entry.value}%</span>
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</div>
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</div>
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);
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}}
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/>
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<Bar dataKey="vision" fill="#B8C9F0" radius={6} minPointSize={4} maxBarSize={34}>
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<LabelList
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dataKey="vision"
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position="top"
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className="fill-foreground"
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fontSize={9}
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formatter={(value: number) => `${value}%`}
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/>
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</Bar>
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<Bar dataKey="ours" fill="#3D56C8" radius={6} minPointSize={4} maxBarSize={34}>
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<LabelList
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dataKey="ours"
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position="top"
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className="fill-foreground"
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fontSize={9}
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formatter={(value: number) => `${value}%`}
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/>
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</Bar>
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</BarChart>
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</ChartContainer>
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</CardContent>
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<CardFooter className="pt-0 pb-3 md:pb-4 text-[11px] md:text-xs text-white/70 flex gap-4">
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#B8C9F0]" />
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Ours (Vision-Only)
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</span>
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#3D56C8]" />
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Ours (+ Pretrain + DAgger)
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</span>
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</CardFooter>
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</Card>
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);
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}
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export function RobustnessDisturbanceChart() {
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return (
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<Card className="border border-white/20 bg-black/60 text-white">
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<CardHeader className="pb-2 md:pb-3">
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<CardTitle className="text-sm md:text-base">
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Robustness in disturbed conditions
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</CardTitle>
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<p className="text-[11px] md:text-xs text-white/70">
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Tactile pretrain and DAgger improve robustness in contact-rich stages.
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</p>
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</CardHeader>
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<CardContent className="p-2 md:p-3">
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<ChartContainer config={robustnessConfig} className="!aspect-auto h-[220px] md:h-[245px]">
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<BarChart
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data={robustnessWholeTaskData}
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margin={{ top: 12, bottom: 6, left: 4, right: 4 }}
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barCategoryGap="10%"
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barGap={1}
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>
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<CartesianGrid vertical={false} />
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<XAxis dataKey="task" tickLine={false} axisLine={false} tickMargin={8} height={28} />
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<YAxis domain={[0, 100]} tickLine={false} axisLine={false} />
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<ChartTooltip
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cursor={false}
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shared={false}
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content={({ active, payload, label }) => {
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if (!active || !payload?.length) return null;
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const entry = payload[payload.length - 1];
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const key = String(entry.dataKey) as keyof typeof robustnessConfig;
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const fullLabel = robustnessConfig[key]?.label || key;
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return (
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<div className="rounded-md border border-white/20 bg-black/95 px-3 py-2 text-xs text-white shadow-md">
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<div className="font-semibold mb-1">{label}</div>
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<div className="flex items-center justify-between gap-3">
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<span className="text-white/80">{fullLabel}</span>
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<span className="font-semibold">{entry.value}%</span>
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</div>
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</div>
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);
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}}
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/>
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<Bar dataKey="visionFull" fill="#DDE8FF" radius={5} minPointSize={4} maxBarSize={32}>
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<LabelList dataKey="visionFull" position="top" className="fill-foreground" fontSize={9} formatter={(value: number) => `${value}%`} />
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</Bar>
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<Bar dataKey="visionPost" fill="#8FB2FF" radius={5} minPointSize={4} maxBarSize={32}>
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<LabelList dataKey="visionPost" position="top" className="fill-foreground" fontSize={9} formatter={(value: number) => `${value}%`} />
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</Bar>
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<Bar dataKey="oursFull" fill="#4F7BFF" radius={5} minPointSize={4} maxBarSize={32}>
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<LabelList dataKey="oursFull" position="top" className="fill-foreground" fontSize={9} formatter={(value: number) => `${value}%`} />
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</Bar>
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<Bar dataKey="oursPost" fill="#1E3FAF" radius={5} minPointSize={4} maxBarSize={32}>
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<LabelList dataKey="oursPost" position="top" className="fill-foreground" fontSize={9} formatter={(value: number) => `${value}%`} />
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</Bar>
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</BarChart>
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</ChartContainer>
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</CardContent>
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<CardFooter className="pt-0 pb-3 md:pb-4 text-[11px] md:text-xs text-white/70 grid grid-cols-1 md:grid-cols-2 gap-x-4 gap-y-1.5">
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#DDE8FF]" />
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Vision-Only (Full Dist.)
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</span>
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#8FB2FF]" />
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Vision-Only (Post-Grasp Dist.)
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</span>
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#4F7BFF]" />
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Ours (+ Pretrain + DAgger) Full Dist.
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</span>
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<span className="inline-flex items-center gap-2">
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<span className="inline-block h-2.5 w-2.5 rounded-sm bg-[#1E3FAF]" />
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Ours (+ Pretrain + DAgger) Post-Grasp Dist.
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</span>
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</CardFooter>
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</Card>
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);
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}
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‎app/(default)/(project)/TAMEn/chart/policy-rollouts-1.tsx‎

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"use client"
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import { TrendingUp } from "lucide-react"
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import { Bar, BarChart, CartesianGrid, Rectangle, XAxis, LabelList } from "recharts"
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import {
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Card,
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CardContent,
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CardDescription,
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CardFooter,
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CardHeader,
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CardTitle,
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} from "@/components/ui/card"
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import {
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ChartConfig,
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ChartContainer,
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ChartTooltip,
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ChartTooltipContent,
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} from "../ui/chart"
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const chartData = [
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{ browser: "1", visitors: 35, fill: "var(--color-1)" },
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{ browser: "2", visitors: 75, fill: "var(--color-2)" },
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{ browser: "3", visitors: 80, fill: "var(--color-3)" },
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]
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const chartConfig = {
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visitors: {
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label: "Success Rate (%):",
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},
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1: {
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label: "ACT",
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color: "#9BB4F0",
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},
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2: {
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label: "Ours-α",
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color: "#6B8CE8",
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},
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3: {
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label: "Ours-β",
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color: "#4169D9",
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},
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} satisfies ChartConfig
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export function PolicyRollouts1() {
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return (
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<Card className="border border-white/20 bg-black text-white w-[275px] md:w-[300px] mx-auto">
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<CardHeader className="pb-1 md:pb-2">
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<CardTitle className="text-sm md:text-base">Policy Success Rate (%)</CardTitle>
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</CardHeader>
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<CardContent className="px-2 md:px-3 pt-0 pb-1">
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<ChartContainer config={chartConfig} className="!aspect-auto h-[185px] md:h-[210px] w-[245px] md:w-[270px] mx-auto">
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<BarChart accessibilityLayer data={chartData} barCategoryGap="0%" margin={{
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top: 10,
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left: 0,
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right: 0,
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}}>
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<CartesianGrid vertical={false} />
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<XAxis className="select-none"
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dataKey="browser"
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tickLine={false}
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tickMargin={10}
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axisLine={false}
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tickFormatter={(value) =>
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chartConfig[value as keyof typeof chartConfig]?.label
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}
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/>
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<ChartTooltip
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cursor={false}
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content={<ChartTooltipContent />}
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/>
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<Bar className="select-none"
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dataKey="visitors"
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barSize={34}
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strokeWidth={1.5}
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radius={6}
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activeIndex={2}
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activeBar={({ ...props }) => {
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return (
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<Rectangle
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{...props}
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/>
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)
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}}
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>
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<LabelList
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position="top"
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offset={8}
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className="fill-foreground"
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fontSize={10}
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/>
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</Bar>
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</BarChart>
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</ChartContainer>
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</CardContent>
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<CardFooter className="flex-col items-start gap-1.5 text-xs pt-1">
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<div className="text-muted-foreground/90 leading-relaxed select-none">
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ACT(Vision-only)
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<br />
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Ours-a (+Tactile +Pretrained)
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<br />
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Ours-B (+Tactile +Pretrained +DAgger)
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</div>
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</CardFooter>
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</Card>
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)
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}

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