A robotic system is disclosed. The system includes a communication interface, and one or more processors coupled to the communication interface and configured to: generate based at least in part on the received data a plan to stack the items on or in the destination location. For each item, the generating the plan includes determining the destination location based at least in part on a characteristic associated with the item, and at least one of (i) a characteristic of a platform or receptacle on which one or more items are to be stacked, and (ii) an existing stack of one or more items on the platform or receptacle. The destination location is determined from among a plurality of zones in which platforms or receptacles are disposed, and each of the plurality of zones are within a range of a robotic arm. A robotic arm is controlled to implement the plan.