Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models
Ivan Kapelyukh,Yifei Ren,Ignacio Alzugaray,Edward Johns,Ivan Kapelyukh,Yifei Ren,Ignacio Alzugaray,Edward Johns
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 w...
