{"id":"https://openalex.org/W4416749961","doi":"https://doi.org/10.1109/iros60139.2025.11246900","title":"Snuggle-Pack: Speeding Up Multi-Heuristic Packing Planning of Complex Objects","display_name":"Snuggle-Pack: Speeding Up Multi-Heuristic Packing Planning of Complex Objects","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749961","doi":"https://doi.org/10.1109/iros60139.2025.11246900"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082618935","display_name":"Tim Nickel","orcid":"https://orcid.org/0009-0004-5670-2172"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tim Nickel","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department of Robot and Assistive Systems,Stuttgart,Germany,70569"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department of Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003111090","display_name":"Richard Bormann","orcid":"https://orcid.org/0000-0002-4546-3143"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Richard Bormann","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department of Robot and Assistive Systems,Stuttgart,Germany,70569"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department of Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["University of Stuttgart,Socially Intelligent Robotics Lab, Institute for Artificial Intelligence,Germany"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Socially Intelligent Robotics Lab, Institute for Artificial Intelligence,Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082618935"],"corresponding_institution_ids":["https://openalex.org/I3018473509"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51413293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5706","last_page":"5713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12176","display_name":"Optimization and Packing Problems","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12176","display_name":"Optimization and Packing Problems","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12292","display_name":"Graph Theory and Algorithms","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0008999999845400453,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/packing-problems","display_name":"Packing problems","score":0.6502000093460083},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6071000099182129},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5450999736785889},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45239999890327454},{"id":"https://openalex.org/keywords/set-packing","display_name":"Set packing","score":0.4293999969959259},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4023999869823456},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.39149999618530273},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C130253271","wikidata":"https://www.wikidata.org/wiki/Q3851477","display_name":"Packing problems","level":2,"score":0.6502000093460083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6305999755859375},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6071000099182129},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5450999736785889},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45239999890327454},{"id":"https://openalex.org/C134516590","wikidata":"https://www.wikidata.org/wiki/Q475603","display_name":"Set packing","level":3,"score":0.4293999969959259},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40369999408721924},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38339999318122864},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3700000047683716},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3682999908924103},{"id":"https://openalex.org/C51413319","wikidata":"https://www.wikidata.org/wiki/Q505996","display_name":"Pallet","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31450000405311584},{"id":"https://openalex.org/C183893376","wikidata":"https://www.wikidata.org/wiki/Q900117","display_name":"Sphere packing","level":2,"score":0.3124000132083893},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.26669999957084656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2624000012874603},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2547000050544739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1520820726","https://openalex.org/W1548434108","https://openalex.org/W1789019853","https://openalex.org/W2000383223","https://openalex.org/W2004065455","https://openalex.org/W2009223377","https://openalex.org/W2019318803","https://openalex.org/W2043862089","https://openalex.org/W2061344791","https://openalex.org/W2074821977","https://openalex.org/W2091862867","https://openalex.org/W2101057470","https://openalex.org/W2503984601","https://openalex.org/W2967842325","https://openalex.org/W2989778542","https://openalex.org/W3082452785","https://openalex.org/W3093033010","https://openalex.org/W3175494061","https://openalex.org/W3188558100","https://openalex.org/W4200291756","https://openalex.org/W4225388739","https://openalex.org/W4310297571","https://openalex.org/W4379513523","https://openalex.org/W4385275575","https://openalex.org/W4386901233","https://openalex.org/W4389665972","https://openalex.org/W4389666118","https://openalex.org/W4393531608","https://openalex.org/W4393972752","https://openalex.org/W4413947113"],"related_works":[],"abstract_inverted_index":{"Efficient":[0],"object":[1],"packing":[2,19,110,129,178],"is":[3],"a":[4,16,30,52,70],"fundamental":[5],"challenge":[6],"in":[7,51,105],"logistics":[8],"and":[9,60,72,102,108,160,172],"industrial":[10,176],"automation.":[11],"This":[12],"work":[13],"introduces":[14],"Snuggle-Pack,":[15],"novel":[17],"3D":[18,54],"algorithm":[20],"that":[21,43,115],"integrates":[22],"Fast":[23],"Fourier":[24],"Transform":[25],"(FFT)-based":[26],"spatial":[27],"analysis":[28],"with":[29],"multi-heuristic":[31],"optimization":[32],"framework":[33,141],"to":[34,79,126,137,146],"achieve":[35],"real-time,":[36],"high-density":[37],"packing.":[38],"Unlike":[39],"traditional":[40],"heuristic-based":[41],"approaches":[42],"rely":[44],"on":[45,99,157],"2D":[46],"simplifications,":[47],"our":[48,67,97,140],"method":[49,98],"operates":[50],"fully":[53],"volumetric":[55],"space,":[56],"ensuring":[57],"collision-free,":[58],"stable,":[59],"physically":[61],"feasible":[62],"placements.":[63],"At":[64],"its":[65],"core,":[66],"approach":[68],"employs":[69],"proximity-aware":[71],"support-sensitive":[73],"placement":[74],"strategy,":[75],"which":[76],"encourages":[77],"objects":[78],"fit":[80],"snugly":[81],"within":[82],"their":[83],"surroundings":[84],"\u2014hence":[85],"the":[86,100,119,122],"name\u2014,":[87],"optimizing":[88],"space":[89],"utilization":[90],"through":[91],"ne-grained":[92],"collision":[93],"metrics.":[94],"We":[95],"evaluate":[96],"YCB":[101],"IPA-3D1K":[103],"datasets":[104],"both":[106],"previewed":[107],"ad-hoc":[109],"scenarios.":[111],"Our":[112],"experiments":[113],"show":[114],"Snuggle-Pack":[116,167],"significantly":[117],"outperforms":[118],"state":[120],"of":[121,153],"art,":[123],"achieving":[124],"up":[125,136],"25%":[127],"higher":[128],"densities":[130],"or,":[131],"alternatively,":[132],"accelerating":[133],"computation":[134],"by":[135],"10\u00d7.":[138],"Moreover,":[139],"allows":[142],"for":[143,175],"dynamic":[144],"adaptation":[145],"custom":[147],"constraints,":[148],"such":[149],"as":[150,168],"balanced":[151],"center":[152],"mass,":[154],"weight":[155],"limitations":[156],"fragile":[158],"items,":[159],"safety":[161],"proximity":[162],"constraints.":[163],"These":[164],"results":[165],"highlight":[166],"an":[169],"efficient,":[170],"flexible,":[171],"scalable":[173],"solution":[174],"robotic":[177],"tasks.":[179]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}