These models are combined to generate global solutions to the packing problem, taking into account all constraints at once. Importantly, their technique was also able to solve problems with novel combinations of constraints and larger numbers of objects, that the models did not see during training. Constraint complicationsContinuous constraint satisfaction problems are particularly challenging for robots. There may be many constraints, and they vary across problems and environments depending on the geometry of objects and human-specified requirements. “It can quickly generate solutions that simultaneously satisfy multiple constraints by composing known individual constraint models.