Packing objects efficiently is a fundamental problem in logistics, warehouse automation, and robotics. While traditional packing solutions focus on geometric optimization, packing irregular, 3D objects presents significant challenges due to variations in shape and stability. Reinforcement Learning~(RL) has gained popularity in robotic packing tasks, but training purely from simulation can be inefficient and computationally expensive. In this work, we propose HERB, a human-augmented RL framework for packing irregular objects. We first leverage human demonstrations to learn the best sequence of objects to pack, incorporating latent factors such as space optimization, stability, and object relationships that are difficult to model explicitly. Next, we train a placement algorithm that uses visual information to determine the optimal object positioning inside a packing container. Our approach is validated through extensive performance evaluations, analyzing both packing efficiency and latency. Finally, we demonstrate the real-world feasibility of our method on a robotic system. Experimental results show that our method outperforms geometric and purely RL-based approaches by leveraging human intuition, improving both packing robustness and adaptability. This work highlights the potential of combining human expertise-driven RL to tackle complex real-world packing challenges in robotic systems.
View on arXiv@article{perovic2025_2504.16595,
title={ HERB: Human-augmented Efficient Reinforcement learning for Bin-packing },
author={ Gojko Perovic and Nuno Ferreira Duarte and Atabak Dehban and Gonçalo Teixeira and Egidio Falotico and José Santos-Victor },
journal={arXiv preprint arXiv:2504.16595},
year={ 2025 }
}