app.py

import gradio as gr
from pathlib import Path

TITLE = "JuggleRL: Mastering Ball Juggling with a Quadrotor via Deep Reinforcement Learning"
PAPER_URL = "https://arxiv.org/abs/2509.24892"
GITHUBS = [
    ("Training", "https://github.com/thu-uav/JuggleRL_train"),
    ("ROS Pack", "https://github.com/thu-uav/JuggleRL_rospack"),
    ("NatNet SDK", "https://github.com/thu-uav/JuggleRL_NatNetSDK"),
]

ASSETS = Path("assets")  # 把视频/图片放在 assets/ 里
videos = [p for p in (ASSETS).glob("*.mp4")] + [p for p in (ASSETS).glob("*.mov")]
images = [p for p in (ASSETS).glob("*.png")] + [p for p in (ASSETS).glob("*.jpg")]

def homepage():
    md = f"""
# {TITLE}

**Paper**: [{PAPER_URL}]({PAPER_URL})  
**Code**: {", ".join([f"[{name}]({url})" for name, url in GITHUBS])}

**Highlights**
- Zero-shot sim-to-real deployment
- Calibrated dynamics + domain randomization
- Lightweight Communication Protocol (LCP)
- Real-world juggling up to 462 hits

---
"""
    return md

with gr.Blocks(title="JuggleRL") as demo:
    gr.Markdown(homepage())

    with gr.Tab("System Diagram"):
        if images:
            gr.Gallery(images, label="Figures", columns=3, height=400, preview=True)
        else:
            gr.Markdown("> Upload system figures to `assets/` as PNG/JPG.")

    # with gr.Tab("Real-world Videos"):
    #     if videos:
    #         for v in videos:
    #             gr.Video(str(v))
    #     else:
    #         gr.Markdown("> Put demo videos (mp4/mov) into `assets/` to show here.")

    with gr.Tab("Real-world Videos"):
        gr.Markdown("### Full Demo on Bilibili")
        gr.HTML('''
        <div style="position:relative;padding-top:56.25%;">
        <iframe src="https://player.bilibili.com/player.html?bvid=BV1hKxDzrEw5&autoplay=0"
                scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"
                style="position:absolute;top:0;left:0;width:100%;height:100%;">
        </iframe>
        </div>
        ''')


    with gr.Tab("Links"):
        gr.Markdown(
            "\n".join([
                f"- **Paper**: [{PAPER_URL}]({PAPER_URL})",
                *[f"- **{name}**: {url}" for name, url in GITHUBS],
            ])
        )

demo.launch()