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Sequential Object Placement Optimization with Convex Decomposition

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Robotic object packing has been a core challenge for robotic deployment in logistics, industry, etc., due to the curse of dimensionality in combinatorial search and the difficulty of dealing with dynamic and contact constraints for irregularly shaped objects. Current heuristic and learning-based methods assume a limited spatial discretization resolution of space, and computation becomes extremely inefficient as discretization accuracy increases. In this work, we eliminate these assumptions by introducing SOPO-CD, a sequential optimization framework that frames object placement as a differentia

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