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Gripper-Aware Automatic Dense Packing of Irregular Objects

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Automatic dense packing is widely desired in warehouse operations but remains a fundamental challenge in robotic manipulation. Existing work on irregular-object packing largely targets simulation with idealized contact, treating the object as an isolated rigid body. The gripper often enters as a discrete, post-hoc feasibility check, if considered at all, and the perception and contact drift accumulated during execution are not addressed. We present a closed-loop pipeline that integrates perception, gripper-aware placement optimization, and force-guided execution on a real manipulator. The opti

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