A contact-based multi-object trajectory optimizer inside a model predictive controller, paired with physics-aware perception, enables packing new items into partially filled containers by exploiting purposeful interactions with existing objects.
Object rearrangement with nested nonpre- hensile manipulation actions,
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Pack it in: Packing into Partially Filled Containers Through Contact
A contact-based multi-object trajectory optimizer inside a model predictive controller, paired with physics-aware perception, enables packing new items into partially filled containers by exploiting purposeful interactions with existing objects.