diff --git a/index.html b/index.html
index 3cb6d56..a16f20a 100644
--- a/index.html
+++ b/index.html
@@ -326,23 +326,43 @@ <h2 class="title is-size-4">Importance of Predicting Future Outcomes</h2>
           </p>
         </div>
         <div class="publication-video">
-          <video muted autoplay controls width="90%" margin-bottom="0px">
-            <source src="videos/examples/traj1_failure.mp4"  type="video/mp4">
+          <video muted autoplay controls width="90%" margin-bottom="0px" margin-top="0px">
+            <source src="videos/examples/imp_traj1.mp4"  type="video/mp4">
           </video>
         </div>
         <div class="publication-video">
-          <video muted autoplay controls width="90%" margin-bottom="0px">
-            <source src="videos/examples/traj1_ood.mp4"  type="video/mp4">
+          <video muted autoplay controls width="90%" margin-bottom="0px" margin-top="0px">
+            <source src="videos/examples/imp_traj2.mp4"  type="video/mp4">
           </video>
         </div>
+        <br>
+        <br>
+      </div>
+    </div>
+
+    <!-- Overview. -->
+    <div class="columns is-centered has-text-centered">
+      <div class="column is-four-fifths">
+        <h2 class="title is-size-4">Limitation: When Robot + Human Policy Fails</h2>
+       
+        <div class="content has-text-justified">
+          <p>
+            What are the failure modes under the >95% combined policy success rate? We show where our system fails with the runtime monitoring system.
+          </p>
+        </div>
         <div class="publication-video">
-          <video muted autoplay controls width="90%" margin-bottom="0px">
-            <source src="videos/examples/traj2_failure.mp4"  type="video/mp4">
+          <video muted autoplay controls width="90%" margin-bottom="0px" margin-top="0px">
+            <source src="videos/examples/lim_1.mp4"  type="video/mp4">
           </video>
         </div>
         <div class="publication-video">
-          <video muted autoplay controls width="90%" margin-bottom="0px">
-            <source src="videos/examples/traj2_ood.mp4"  type="video/mp4">
+          <video muted autoplay controls width="90%" margin-bottom="0px" margin-top="0px">
+            <source src="videos/examples/lim_2.mp4"  type="video/mp4">
+          </video>
+        </div>
+        <div class="publication-video">
+          <video muted autoplay controls width="90%" margin-bottom="0px" margin-top="0px">
+            <source src="videos/examples/lim_3.mp4"  type="video/mp4">
           </video>
         </div>
         <br>