jacquesm did that impressively 9 years ago: https://jacquesmattheij.com/sorting-two-metric-tons-of-lego, https://news.ycombinator.com/item?id=14226889 (follow-up posts with more details: https://news.ycombinator.com/item?id=14280569, https://news.ycombinator.com/item?id=14654223).

It doesn't solve the picking-up-off-the-floor problem.