Abstract: In various examples, systems and methods for stability prediction for 3D robotic bin packing are described. A set of contact points for a first item at a first candidate placement position may be determined. A first contact point having a minimum value along a first coordinate dimension and a second contact point having a maximum value along the first coordinate dimension may be determined. A third contact point that is a maximum distance between a line between the first contact point and the second contact point may be determined. A determination may be made whether a centroid of the first item is within a triangle defined by the first contact point, the second contact point, and the third contact point. A stability of the first item at the first candidate placement position may be determined based on the location of the centroid.