Techniques for planning object sorting are disclosed, including: receiving a set of current information associated with target objects on a conveyor device; determining a current state of the sorting system, wherein the sorting system comprises an actuator device that is configured to actuate a picker assembly to capture target objects from the conveyor device; determining a sequence of actions to be performed by the actuator device and the picker assembly with respect to one or more target objects based on the set of current information associated with the target objects and the current state of the sorting system; determining a selected subset of actions with respect to an identified target object from the sequence of actions; and sending an instruction to the actuator device to cause the actuator device to perform the selected subset of actions with respect to the identified target object.