Intricate, stable structure generated by our object placement planner. The surface is shaded according to robustness to perturbation by external forces; we use this measure to inform our proposed planner.
A planner that reverses the typical pose-sampling approach: picking robust #ContactPoints, then finding a placement pose that satisfies them. The method runs ~20× faster thanks to a stability #heuristic, and works well even in cluttered robot scenes.
https://ieeexplore.ieee.org/document/11027417
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