Author

Nicolas Busch

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Preprint Aug 2026

Semantic- and Density-Aware Planning for Accessibility-Preserving Multi-Object Placement

Semantic-Dense Placement Planning (SDPP) is proposed, an accessibility-preserving approach that ranks candidate poses using a semantic-density score combining inter-object semantic similarity with spatial proximity and significantly improves semantic placement quality over state-of-the-art baselines.

Benno Wingender, Nils Dengler, Nicolas Busch et al. · 0 citations