Related papers: Stable bin packing of non-convex 3D objects with a…
Consolidation of loose packages into transport units is a fundamental activity offered by logistics service-providers. Moving the transport units instead of loose packages is faster (with one movement only, multiple packages are loaded…
The unrestricted block relocation problem is an important optimization problem encountered at terminals, where containers are stored in stacks. It consists in determining the minimum number of container moves so as to empty the considered…
We tackle the Online 3D Bin Packing Problem, a challenging yet practically useful variant of the classical Bin Packing Problem. In this problem, the items are delivered to the agent without informing the full sequence information. Agent…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
Efficient packing of items into bins is a common daily task. Known as Bin Packing Problem, it has been intensively studied in the field of artificial intelligence, thanks to the wide interest from industry and logistics. Since decades, many…
A 3D flexible bin packing problem (3D-FBPP) arises from the process of warehouse packing in e-commerce. An online customer's order usually contains several items and needs to be packed as a whole before shipping. In particular, 5% of tens…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Online 3D Bin Packing Problem (3D-BPP) has widespread applications in industrial automation. Existing methods usually solve the problem with limited resolution of spatial discretization, and/or cannot deal with complex practical constraints…
We propose a Deep Reinforcement Learning (Deep RL) algorithm for solving the online 3D bin packing problem for an arbitrary number of bins and any bin size. The focus is on producing decisions that can be physically implemented by a robotic…
We study three fundamental three-dimensional (3D) geometric packing problems: 3D (Geometric) Bin Packing (3D-BP), 3D Strip Packing (3D-SP), and Minimum Volume Bounding Box (3D-MVBB), where given a set of 3D (rectangular) cuboids, the goal…
Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…
The two-dimensional non-oriented bin packing problem with due dates packs a set of rectangular items, which may be rotated by 90 degrees, into identical rectangular bins. The bins have equal processing times. An item's lateness is the…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
This paper addresses the two-dimensional bin packing problem with guillotine constraints. The problem requires a set of rectangular items to be cut from larger rectangles, known as bins, while only making use of edge-to-edge (guillotine)…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
In recent years, the throughput requirements of e-commerce fulfillment warehouses have seen a steep increase. This has resulted in various automation solutions being developed for item picking and movement. In this paper, we address the…
We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…
Bin packing is an algorithmic problem that arises in diverse applications such as remnant inventory systems, shipping logistics, and appointment scheduling. In its simplest variant, a sequence of $T$ items (e.g., orders for raw material,…