Workflow for using learning based approach for placing boxes on pallets

A method to control a robot, comprising:

• storing a machine learning-based model to provide a scoring function value for a candidate item placement on a pallet on which are plurality of items are to be stacked given a current state value of the pallet and a set of zero or more items placed previously;
• using the model to determine a corresponding score for each of a plurality of candidate placements for a next item to be placed and the current state value associated with the current state of the pallet and a set of zero or more items placed previously, wherein:
• a search space of possible scenarios for placing the candidate item and zero or more of the plurality of items is pruned based at least in part on a determination that a score for a particular candidate placement of the plurality of placement is less than a predefined scoring threshold;
• and
• the pruning of the search for the particular candidate placement includes removing from the particular candidate placement as a potential placement, and a set of placements that depend on the pruned candidate placement;
• selecting a selected placement based at least in part on the respective scores;
• and
• controlling a robotic arm to place the next item according to the selected placement.

A computer program product to control a robot, the computer program product being embodied in a non-transitory computer readable medium and comprising computer instructions for:

• storing a machine learning-based model to provide a scoring function value for a candidate item placement on a pallet on which are plurality of items are to be stacked given a current state value of the pallet and a set of zero or more items placed previously;
• using the model to determine a corresponding score for each of a plurality of candidate placements for a next item to be placed and the current state value associated with the current state of the pallet and a set of zero or more items placed previously, wherein:
• a search space of possible scenarios for placing the candidate item and zero or more of the plurality of items is pruned based at least in part on a determination that a score for a particular candidate placement of the plurality of placement is less than a predefined scoring threshold;
• and
• the pruning of the search for the particular candidate placement includes removing from the particular candidate placement as a potential placement, and a set of placements that depend on the pruned candidate placement;
• selecting a selected placement based at least in part on the respective scores;
• and
• controlling a robotic arm to place the next item according to the selected placement.