diff --git a/_site/data/related_work/nbv_manipulation.gif b/_site/data/related_work/nbv_manipulation.gif
new file mode 100644
index 0000000..abffc08
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diff --git a/_site/feed.xml b/_site/feed.xml
index 9183b12..c56a81b 100644
--- a/_site/feed.xml
+++ b/_site/feed.xml
@@ -1 +1 @@
-<?xml version="1.0" encoding="utf-8"?><feed xmlns="http://www.w3.org/2005/Atom" ><generator uri="https://jekyllrb.com/" version="4.3.2">Jekyll</generator><link href="http://localhost:4000/feed.xml" rel="self" type="application/atom+xml" /><link href="http://localhost:4000/" rel="alternate" type="text/html" /><updated>2023-12-13T19:51:52-05:00</updated><id>http://localhost:4000/feed.xml</id></feed>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?><feed xmlns="http://www.w3.org/2005/Atom" ><generator uri="https://jekyllrb.com/" version="4.3.2">Jekyll</generator><link href="http://localhost:4000/feed.xml" rel="self" type="application/atom+xml" /><link href="http://localhost:4000/" rel="alternate" type="text/html" /><updated>2023-12-14T16:50:39-05:00</updated><id>http://localhost:4000/feed.xml</id></feed>
\ No newline at end of file
diff --git a/_site/index.html b/_site/index.html
index ada9b87..4a8e906 100644
--- a/_site/index.html
+++ b/_site/index.html
@@ -198,7 +198,7 @@ <h2 class="title is-3">Video</h2>
         <h2 class="title is-3">Introduction and Related work</h2>
         <div class="content has-text-justified">
         <p> 
-          Embodied robotic intelligence relies on active perception 
+          (WIP) Embodied robotic intelligence relies on active perception 
           and exploration, essential for various applications like 
           robotic manipulation, inspection, and vision-based navigation. 
           The autonomous collection of data plays a pivotal role in 
@@ -228,7 +228,7 @@ <h2 class="title is-4">Multi-UAV Data Gathering</h2>
       <div class="column has-text-centered">
         <div class="content">
           <h2 class="title is-4">Scene Understanding for Manipulation</h2>
-          <img id="db_image" src = "data/VPAir_images/subsampled_vpair/reference_views/00001.png" width="500">
+          <img id="db_image" src = "data/related_work/nbv_manipulation.gif" width="500">
         </div>
       </div>
 
@@ -241,149 +241,43 @@ <h2 class="title is-4">Scene Understanding for Manipulation</h2>
     </div>
 </section>
 
-<section class="section">
-  <div class="container is-max-desktop">
-
-    <div class="columns is-centered has-text-centered">
-      <div class="column">
-        <h2 class="title is-3">Semantic Cutscene Augmentation</h2>
-        <p></p>
-      </div>
-    </div>
-
-    <div class="columns is-centered has-text-centered">
-      <img id="cutscene Performance" src = "data/method_viz/how_to_cutscene.gif" width="500">
-    <div class="columns is-centered has-text-centered">
-
-  </div>
-</section>
-
-<section class="hero is-light">
+<section class="hero is-small is-light">
   <div class="hero-body">
-  <!-- Paper video. -->
-  <div class="columns is-centered has-text-centered">
-    <div class="column is-three-fifths">
-      <h2 class="title is-3">How to Cutscene</h2>
-      <div class="publication-video">
-        <iframe width="560" height="315" src="https://www.youtube.com/embed/ITo8rMInatk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>      </div>
-    </div>
-  </div>
-  </div>
-  <!--Paper video-->
-
-</section>
-
-<section class="section">
-  <div class="container is-max-desktop">
-
     <div class="columns is-centered has-text-centered">
       <div class="column">
         <a id="interactive_demo"></a>
-        <h2 class="title is-3">Try out Universal VPR in action!</h2>
+        <h2 class="title is-3">Contributions</h2>
         <div class="content has-text-justified">
         <p> 
-          Simply click on any point on the query trajectory (upper left), and observe its best retrieval and similarity heatmap on the database trajectory (upper right). 
-          Use the drop-down menu to switch to a different environment. 
-          The corresponding query and the best retrieval image is visualized at the lower left and lower right respectively.
-          Points that are identified by &#11088 on the database trajectory indicate the best retrieval. 
-          Yellow indicates higher similarity in the database trajectory (upper right).
+          (WIP) Describes the three contributions. One sentence each.
         </p>
         </div>
       </div>
     </div>
 
-    <div class="columns is-centered">
-
-      <div class="control-row">
-        <select class="trajectorydata">
-        </select>
-      </div>
-
-    </div>
-
-    <div class="columns is-centered">
-
-      <div class="column has-text-centered">
-        <div class="content">
-          <div id="myPlot"></div>
-        </div>
-      </div>    
-
-      <div class="column has-text-centered">
-        <div class="content">
-          <div id="sim_myPlot"></div>
-        </div>
-        
-      </div>
-  
-    </div>
-
-    <div class="columns is-centered">
-
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">Query Image</h2>
-        <img id="q_image" src = "data/VPAir_images/subsampled_vpair/queries/00001.png" width="500">
-        </div>
-      </div>
-
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">Retrieved Image</h2>
-          <img id="db_image" src = "data/VPAir_images/subsampled_vpair/reference_views/00001.png" width="500">
-        </div>
-      </div>
-
-      <script src = "data/trajectory_data/hawkins.js"></script>
-      <script src = "demo/plot.js"></script>
-  
-    </div>
-
-    <p></p>
-    </div>
-</section>
-
-<section class="hero is-small is-light">
-  <div class="hero-body">
-  <div class="columns is-centered has-text-centered">
-    <div class="column">
-      <h2 class="title is-3">Qualitative Retrieval Visualizations</h2>
-      <p></p>
-    </div>
-  </div>
-
   <div class="container is-max-desktop">
   <div class="columns is-centered">
 
   <div class="column has-text-centered">
     <div class="content">
-      <h2 class="title is-4">VPAir</h2>
-      <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-        <source src="./data/trajectory_videos/vpair_test.mp4"
-                type="video/mp4">
-      </video>
+      <h2 class="title is-4">Training on larger outdoor scenes</h2>
+      <img id="db_image" src = "data/method_viz/Selection_180_90_30.gif" width="500">
       <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
     </div>
   </div>
 
   <div class="column has-text-centered">
     <div class="content">
-      <h2 class="title is-4">Hawkins</h2>
-      <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-        <source src="./data/trajectory_videos/map_sim_1.mp4"
-                type="video/mp4">
-      </video>
+      <h2 class="title is-4">Hierarchical training strategy</h2>
+      <img id="db_image" src = "data/method_viz/cutscene.gif" width="500">
       <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
     </div>
   </div>
 
   <div class="column has-text-centered">
     <div class="content">
-      <h2 class="title is-4">Laurel Caverns</h2>
-      <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-        <source src="./data/trajectory_videos/laurel_map_sim.mp4"
-                type="video/mp4">
-      </video>
+      <h2 class="title is-4">View planning to gather NBV</h2>
+      <img id="db_image" src = "data/method_viz/view_capture_180.gif" width="500">
       <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
     </div>
   </div>
@@ -398,159 +292,64 @@ <h2 class="title is-4">Laurel Caverns</h2>
 
     <div class="columns is-centered has-text-centered">
       <div class="column">
-        <h2 class="title is-3">Vocabulary Visualizations on Gardens Point</h2>
-        <p></p>
-      </div>
-    </div>
-    
-    <div class="columns is-centered">
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">Database Sample</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row1_col1.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row1_col1.gif"> -->
-        </div>
-      </div>
-      
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">Query Sample</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row1_col2.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row1_col2.gif"> -->
+        <a id="interactive_demo"></a>
+        <h2 class="title is-3">Background</h2>
+        <div class="content has-text-justified">
+        <p> 
+          (WIP) Describes the two major backgrounds on NeRF and PixelNeRF. One sentence each.
+        </p>
         </div>
       </div>
-
     </div>
 
-    <p></p>
-    </div>
-
-</section>
-<section class="hero hero is-light is-small">
-  <div class="hero-body">
-  <div class="container is-max-desktop">
-
-    <div class="columns is-centered has-text-centered">
-      <div class="column">
-        <h2 class="title is-3">Vocabulary Visualizations comparing DINO & DINOv2</h2>
-        <p></p>
-      </div>
-    </div>
+    
 
     <div class="columns is-centered">
-            
+
       <div class="column has-text-centered">
         <div class="content">
-          <h2 class="title is-4">DINO ViT-S L9 Key</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row2_col1.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row2_col1.gif"> -->
+          <h2 class="title is-4">NeRF</h2>
+          <div class="NeRF-video">
+            <iframe width="480" height="270" src="https://www.youtube.com/embed/JuH79E8rdKc?si=AsJpnK8WQT1vKl5q" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>      
+          </div>
         </div>
       </div>
 
       <div class="column has-text-centered">
         <div class="content">
-          <h2 class="title is-4">DINOv2 ViT-S L10 Value</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row2_col2.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row2_col2.gif"> -->
+          <h2 class="title is-4">PixelNeRF</h2>
+          <div class="PixelNeRF-video">
+            <iframe width="480" height="270" src="https://www.youtube.com/embed/voebZx7f32g?si=K-HQnVwn3tHiTIwu" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>          </div>
         </div>
       </div>
 
-      </div>
+      <script src = "data/trajectory_data/hawkins.js"></script>
+      <script src = "demo/plot.js"></script>
+  
     </div>
+
     <p></p>
-  </div>
+    </div>
 </section>
 
-<section class="hero is-small">
-  <div class="hero-body">
+
+<section class="section">
   <div class="container is-max-desktop">
 
     <div class="columns is-centered has-text-centered">
       <div class="column">
-        <h2 class="title is-3">Vocabulary Visualizations across DINO & DINOv2 layers</h2>
+        <h2 class="title is-3">Semantic Cutscene Augmentation</h2>
         <p></p>
       </div>
     </div>
-  
-    <div class="columns is-centered">
 
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">DINO ViT-S Key</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row3_col1.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row3_col1.gif"> -->
-        </div>
-      </div>
-      
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">DINOv2 ViT-S Value</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row3_col2.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row3_col2.gif"> -->
-        </div>
-      </div>
+    <div class="columns is-centered has-text-centered">
+      <img id="cutscene Performance" src = "data/method_viz/how_to_cutscene.gif" width="500">
+    <div class="columns is-centered has-text-centered">
 
-      <div class="column has-text-centered">
-        <div class="content">
-          <h2 class="title is-4">DINOv2 ViT-G Value</h2>
-          <video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
-            <source src="./data/viz_videos/row3_col3.webm"
-                    type="video/mp4">
-          </video>
-          <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
-        </div>
-      </div>
-    </div>
-  </div>
   </div>
 </section>
 
-<script type="text/javascript">
-  $(function() {
-  var screenWidth = $(window).width();
-  if (screenWidth >= 800) {
-    $('#gpt-video-1').attr('autoplay', 'autoplay');
-  }
-  if (screenWidth >= 800) {
-    $('#gpt-video-2').attr('autoplay', 'autoplay');
-  }
-  if (screenWidth >= 800) {
-    $('#click-query-icl').attr('autoplay', 'autoplay');
-  }
-});
-</script>
-
-<section class="section" id="BibTeX">
-  <div class="container is-max-desktop content">
-    <h2 class="title is-3">BibTeX</h2>
-    <pre><code>
-      @article{keetha2023cutscene,
-        title={cutscene: Towards Universal Visual Place Recognition},
-        author={Keetha, Nikhil and Mishra, Avneesh and Karhade, Jay and Jatavallabhula, Krishna Murthy and Scherer, Sebastian and Krishna, Madhava and Garg, Sourav},
-        journal={arXiv preprint arXiv:2308.00688},
-        year={2023}
-      }
-    </code></pre>
-  </div>
-</section>
 
 <footer class="footer">
   <div class="container">
diff --git a/_site/sitemap.xml b/_site/sitemap.xml
index 853915a..73e971f 100644
--- a/_site/sitemap.xml
+++ b/_site/sitemap.xml
@@ -6,6 +6,6 @@
 </url>
 <url>
 <loc>http://localhost:4000/</loc>
-<lastmod>2023-12-13T19:49:01-05:00</lastmod>
+<lastmod>2023-12-14T16:50:39-05:00</lastmod>
 </url>
 </urlset>
diff --git a/data/related_work/nbv_manipulation.gif b/data/related_work/nbv_manipulation.gif
new file mode 100644
index 0000000..abffc08
Binary files /dev/null and b/data/related_work/nbv_manipulation.gif differ
diff --git a/index.html b/index.html
index 0f28179..4a8e906 100644
--- a/index.html
+++ b/index.html
@@ -198,7 +198,7 @@ <h2 class="title is-3">Video</h2>
         <h2 class="title is-3">Introduction and Related work</h2>
         <div class="content has-text-justified">
         <p> 
-          Embodied robotic intelligence relies on active perception 
+          (WIP) Embodied robotic intelligence relies on active perception 
           and exploration, essential for various applications like 
           robotic manipulation, inspection, and vision-based navigation. 
           The autonomous collection of data plays a pivotal role in 
@@ -228,7 +228,7 @@ <h2 class="title is-4">Multi-UAV Data Gathering</h2>
       <div class="column has-text-centered">
         <div class="content">
           <h2 class="title is-4">Scene Understanding for Manipulation</h2>
-          <img id="db_image" src = "data/VPAir_images/subsampled_vpair/reference_views/00001.png" width="500">
+          <img id="db_image" src = "data/related_work/nbv_manipulation.gif" width="500">
         </div>
       </div>
 
@@ -241,6 +241,98 @@ <h2 class="title is-4">Scene Understanding for Manipulation</h2>
     </div>
 </section>
 
+<section class="hero is-small is-light">
+  <div class="hero-body">
+    <div class="columns is-centered has-text-centered">
+      <div class="column">
+        <a id="interactive_demo"></a>
+        <h2 class="title is-3">Contributions</h2>
+        <div class="content has-text-justified">
+        <p> 
+          (WIP) Describes the three contributions. One sentence each.
+        </p>
+        </div>
+      </div>
+    </div>
+
+  <div class="container is-max-desktop">
+  <div class="columns is-centered">
+
+  <div class="column has-text-centered">
+    <div class="content">
+      <h2 class="title is-4">Training on larger outdoor scenes</h2>
+      <img id="db_image" src = "data/method_viz/Selection_180_90_30.gif" width="500">
+      <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
+    </div>
+  </div>
+
+  <div class="column has-text-centered">
+    <div class="content">
+      <h2 class="title is-4">Hierarchical training strategy</h2>
+      <img id="db_image" src = "data/method_viz/cutscene.gif" width="500">
+      <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
+    </div>
+  </div>
+
+  <div class="column has-text-centered">
+    <div class="content">
+      <h2 class="title is-4">View planning to gather NBV</h2>
+      <img id="db_image" src = "data/method_viz/view_capture_180.gif" width="500">
+      <!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
+    </div>
+  </div>
+  </div>
+
+  </div>
+  </div>
+</section>
+
+<section class="section">
+  <div class="container is-max-desktop">
+
+    <div class="columns is-centered has-text-centered">
+      <div class="column">
+        <a id="interactive_demo"></a>
+        <h2 class="title is-3">Background</h2>
+        <div class="content has-text-justified">
+        <p> 
+          (WIP) Describes the two major backgrounds on NeRF and PixelNeRF. One sentence each.
+        </p>
+        </div>
+      </div>
+    </div>
+
+    
+
+    <div class="columns is-centered">
+
+      <div class="column has-text-centered">
+        <div class="content">
+          <h2 class="title is-4">NeRF</h2>
+          <div class="NeRF-video">
+            <iframe width="480" height="270" src="https://www.youtube.com/embed/JuH79E8rdKc?si=AsJpnK8WQT1vKl5q" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>      
+          </div>
+        </div>
+      </div>
+
+      <div class="column has-text-centered">
+        <div class="content">
+          <h2 class="title is-4">PixelNeRF</h2>
+          <div class="PixelNeRF-video">
+            <iframe width="480" height="270" src="https://www.youtube.com/embed/voebZx7f32g?si=K-HQnVwn3tHiTIwu" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>          </div>
+        </div>
+      </div>
+
+      <script src = "data/trajectory_data/hawkins.js"></script>
+      <script src = "demo/plot.js"></script>
+  
+    </div>
+
+    <p></p>
+    </div>
+</section>
+
+
 <section class="section">
   <div class="container is-max-desktop">