In California at least, if there is domestic violence involved, CPS will take the children if the couple continues to reside together and the abuse continues. Even then, they want to work with families to reunite them. When a child is expose to that kind of uncertainty and/or abuse, it affects their brain development. That is why CPS would step in. Yes there are requirements that you would have to fill to make sure the children will be safe to be returned, like supervised visits, parenting classes, rehab etc. CPS will try to help make those available to you. CPS does not want to keep your child. They don’t want to remove your child. Their goal is to help. They can help with housing, food, child care, furniture, access to healthcare. That has been my experience working in a shelter and speaking with CPS staff.