Robotic end effector system for multiple deposits

A method for multi-insertion control of aggregate foodstuffs with a robot arm along a conveyor line, the method comprising:

• picking aggregate foodstuffs from a foodstuff bin using a first and a second utensil, wherein both the first and second utensils are coupled to the robot arm;
• contemporaneously with picking aggregate foodstuffs, determining a set of images of a robot workspace;
• based on the set of images, determining a plurality of container tracks for a plurality of containers within the robot workspace;
• based on a first container track of the plurality of container tracks, controlling the robot arm to insert the aggregate foodstuff from the first utensil into a first container along the conveyor line;
• determining a robot arm trajectory based on a second container track of the plurality of container tracks, wherein the robot arm trajectory is determined based on an offset between the first and second utensils;
• and
• based on the robot arm trajectory, controlling the robot arm to insert the aggregate foodstuff from the second utensil into a second container along the conveyor line,
• wherein the method further comprises:
• selecting a pick target based on a model of the foodstuff bin, a target portion amount of the aggregate foodstuffs, and the offset between the first and second utensils.