A method for detecting parcel engagement and classifying parcels includes steps of: (i) processing, by a processor, audio data received from one or more microphones, the audio data corresponding to a robot engaging a parcel; and (ii) classifying, by the processor, the parcel as a particular parcel type based on the audio data corresponding to the robot engaging the parcel. The one or more microphones may be positioned in proximity to one or more vacuum cups of a vacuum-based end effector of the robot to obtain audio data corresponding to the one or more vacuum cups engaging the parcel for transfer.

A method for detecting parcel engagement and classifying parcels includes steps of: (i) processing, by a processor, audio data received from one or more microphones, the audio data corresponding to a robot engaging a parcel; and (ii) classifying, by the processor, the parcel as a particular parcel type based on the audio data corresponding to the robot engaging the parcel. The one or more microphones may be positioned in proximity to one or more vacuum cups of a vacuum-based end effector of the robot to obtain audio data corresponding to the one or more vacuum cups engaging the parcel for transfer.