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