RG Luma Automation have recently installed 12 robots each stacking crumpets at around 100 a minute. Cameras spot and track the crumpets and then the robot picks and places them into stacks. Notice the stacks are built up face to face/back to back. The cameras can identify which way up the crumpets are and instruct the robot to pick the one it needs next.

Fantastic example of a robotic picking application
Refreshing soundtrack!