1. A system for piece-picking or piece put-away within a logistics facility comprising: a central server comprising: a server communication interface, one or more server processors, and a server memory; and at least one mobile manipulation robot comprising: a mobile base, at least one articulated manipulator arm having an end effector, at least one piece containment area, a plurality of sensors, a remote communication interface, a memory configured to store robot specific information, and one or more robot processors coupled to the sensors, the memory, the mobile base, and the at least one articulated manipulation arm, wherein the memory comprises computer program instructions executable by the one or more robot processors to receive data from and send data to the central server, process data received from each of the sensors, and output control signals to the mobile base and the at least one articulated manipulator arm, wherein the plurality of sensors provide signals related to detection, identification, and location of the piece to be picked, and the one or more robot processors analyze the sensor information to generate articulated arm control signals to guide the end effector of the at least one articulated manipulator arm to pick the piece.