"Everyone has been dreaming for 40 years of one robot hand to rule the world. A lot of people think it could be the humanoid hand," says Pierce.
Regions with many nearby points keep subdividing. Regions with few or no points stay large. The tree adapts to the data: dense areas get fine-grained cells, sparse areas stay coarse. The split grid is predetermined (always at midpoints), but the tree only refines cells that need it. Sparse regions stay as single large nodes while dense regions subdivide deeply.
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