Ivan Kapelyukh

DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics

2022 · arXiv (Cornell University)

We introduce the first work to explore web-scale diffusion models for robotics. DALL-E-Bot enables a robot to rearrange objects in a scene, by first inferring a text description of those objects, then generating an image …

SceneScore: Learning a Cost Function for Object Arrangement

2023 · arXiv (Cornell University)

Arranging objects correctly is a key capability for robots which unlocks a wide range of useful tasks. A prerequisite for creating successful arrangements is the ability to evaluate the desirability of a given arrangement. Our …