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Ivan Kapelyukh

dblp:305/7084 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2024
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 83% 3D vision · 8% Vision and language · 8%

Topics — the 5 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation
grasping
0.812024
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models · ICRA 2024
Robotics › Robot manipulation
object rearrangement
0.812024
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models · ICRA 2024
Robotics › Robot manipulation › grasping
pick-and-place
0.812024
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models · ICRA 2024
Computer vision › 3D vision › 3d scene modeling › scene representation
3d scene representation
0.212024
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models · ICRA 2024
Computer vision › Vision and language
vision-language model
0.212024
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models · ICRA 2024

Methods — techniques the papers use, named apart from their topics

zero-shot learning · 0.8vision-language model · 0.8rendering · 0.8
YearPublicationVenuePosition
2024 Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models
abstract
We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the scene, where objects can be rearranged virtually and an image of the resulting arrangement rendered. These renders are evaluated by a VLM, so that the arrangement which best satisfies the user instruction is selected and recreated in the real world with pick-and-place. This enables language-conditioned rearrangement to be performed zero-shot, without needing to collect a training dataset of example arrangements. Results on a series of real-world tasks show that this framework is robust to distractors, controllable by language, capable of understanding complex multi-object relations, and readily applicable to both tabletop and 6-DoF rearrangement tasks. Videos are available on our webpage at: https://www.robot-learning.uk/dream2real.
Ivan Kapelyukh, Ignacio Alzugaray, Edward Johns
ICRA1