Singulation of arbitrary mixed items

The system of claim 16, wherein:

• the first robotic arm comprises an end effector;
• the end effector comprises one or more suction cups;
• and
• the active measure comprises changing one or both of the position and the orientation of the at least one of the one or more items by blowing air out of at least one of the one or more suction cups.

A method, comprising:

• receiving, by one or more processors, sensor data, the sensor data including image data associated with a plurality of items present in a workspace;
• and
• using the sensor data to determine and implement a plan to autonomously operate a first robotic arm to pick one or more items from the workspace and place each item singly at a corresponding location,
• wherein determining the plan comprises:
• selecting a destination location at which to place a first item;
• and
• wherein implementing the plan comprises:
• determining to implement an active measure based at least in part on a detected state or condition associated with the one or more items in the workspace, comprising:
• detecting, based at least in part on the sensor data, that a location adjacent to the destination location comprises a second item having a characteristic satisfying a predefined criteria;
• and
• in response to detecting that the adjacent location comprises the second item having the characteristic satisfying the predefined criteria, determining to perform the active measure, wherein performing the active measure comprises:
• selecting a new destination location at which to place the first item;
• and
• updating the plan to operate the first robotic arm to place the first item at the new destination location.