Pack it in: Packing into Partially Filled Containers Through Contact

TL;DR

This paper introduces a contact-aware bin-packing method that leverages interactions with existing items to optimize space in partially filled containers, enhancing warehouse automation.

Contribution

It presents a novel contact-based packing approach using a multi-object trajectory optimizer and physics-aware perception for improved placement in partially filled containers.

Findings

Successfully creates free space by exploiting object contacts.

Integrates physics-aware perception for pose estimation during occlusions.

Enables placement of new items in suboptimally filled containers.

Abstract

The automation of warehouse operations is crucial for improving productivity and reducing human exposure to hazardous environments. One operation frequently performed in warehouses is bin-packing where items need to be placed into containers, either for delivery to a customer, or for temporary storage in the warehouse. Whilst prior bin-packing works have largely been focused on packing items into empty containers and have adopted collision-free strategies, it is often the case that containers will already be partially filled with items, often in suboptimal arrangements due to transportation about a warehouse. This paper presents a contact-aware packing approach that exploits purposeful interactions with previously placed objects to create free space and enable successful placement of new items. This is achieved by using a contact-based multi-object trajectory optimizer within a model predictive controller, integrated with a physics-aware perception system that estimates object poses even during inevitable occlusions, and a method that suggests physically-feasible locations to place the object inside the container.