Abstract: Various embodiments are directed to methods, apparatuses, systems, computing devices, computing entities, and the like for robotically depalletizing objects. In various embodiments, a controller-implemented method for robotic depalletization may comprise detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based at least in part on the second pallet height; and determining that the top pallet layer has been depalletized based at least in part on a comparison of the pallet height difference to a threshold pallet layer height.

Abstract: Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include detecting a first set of objects, the first set of objects including two or more palletized objects of a plurality of palletized objects in a stack, wherein the two or more palletized objects of the first set of objects are disposed above a threshold height, wherein the stack has a front side and a back side; determining that a first object of the first set is closer than a second object of the first set is to the front side, wherein the first object of the first set is disposed lower than the second object of the first set; and manipulating an end effector to remove the first object from the stack before removing the second object from the stack and to deposit the first object in one or more deposit locations.

Abstract: Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include receiving, from a perception subsystem associated with an object depalletization system, first imaging data associated with a plurality of objects disposed on a pallet; calculate, based at least in part on the first imaging data, one or more comparative dimension measures associated with the plurality of objects; determine whether the one or more comparative dimension measures satisfy a comparative dimension threshold range; and in response to determining that the one or more comparative dimension measures satisfy the comparative dimension threshold range, cause an execution subsystem associated with the object depalletization system to operate in a constant pallet mode.