A system comprises a milking box, a robotic attacher, a sensor, and a controller. The milking box has a stall to accommodate a dairy livestock. The stall comprises a first exit gate on a first side of the stall leading to a first sorting region and a second exit gate on a second side of the stall leading to a second sorting region. The robotic attacher extends from the rear between the hind legs of the dairy livestock. The sensor identifies the dairy livestock within the milking box stall. The controller selects and opens the first exit gate or the second exit gate based at least in part upon the identity of the dairy livestock.