A robotic system comprising: an articulated arm having an end effector; a first perception unit for identifying an object at an input area, and wherein the robotic system is characterized by: a drop perception system including an open top, an open bottom and a plurality of second perception units, each of the plurality of second perception units being directed toward an interior region of the drop perception system between the open top and the open bottom, the plurality of second perception units being configured to capture perception data of a plurality of views of the object falling through the interior region of the drop perception system to confirm an identity of the object identified by the first perception unit, two sortation stages (222, 224), each sortation stage comprising two rows of collection bins (228, 234); a first carriage configured to receive the object falling through the drop perception system and move on a first track between the two sortation stages (222, 224); each of the two sortation stages (222, 224) including a second carriage (232, 226) configured to receive the object from the first carriage, move along a second track between the two rows of the collection bins, and dump the object into one of the collection bins associated with the identity of the object, wherein the end effector of the articulated arm is configured to drop the object through the drop perception system. an articulated arm having an end effector; a first perception unit for identifying an object at an input area, and wherein the robotic system is characterized by: a drop perception system including an open top, an open bottom and a plurality of second perception units, each of the plurality of second perception units being directed toward an interior region of the drop perception system between the open top and the open bottom, the plurality of second perception units being configured to capture perception data of a plurality of views of the object falling through the interior region of the drop perception system to confirm an identity of the object identified by the first perception unit, two sortation stages (222, 224), each sortation stage comprising two rows of collection bins (228, 234); a first carriage configured to receive the object falling through the drop perception system and move on a first track between the two sortation stages (222, 224); each of the two sortation stages (222, 224) including a second carriage (232, 226) configured to receive the object from the first carriage, move along a second track between the two rows of the collection bins, and dump the object into one of the collection bins associated with the identity of the object, wherein the end effector of the articulated arm is configured to drop the object through the drop perception system. a drop perception system including an open top, an open bottom and a plurality of second perception units, each of the plurality of second perception units being directed toward an interior region of the drop perception system between the open top and the open bottom, the plurality of second perception units being configured to capture perception data of a plurality of views of the object falling through the interior region of the drop perception system to confirm an identity of the object identified by the first perception unit, two sortation stages (222, 224), each sortation stage comprising two rows of collection bins (228, 234); a first carriage configured to receive the object falling through the drop perception system and move on a first track between the two sortation stages (222, 224); each of the two sortation stages (222, 224) including a second carriage (232, 226) configured to receive the object from the first carriage, move along a second track between the two rows of the collection bins, and dump the object into one of the collection bins associated with the identity of the object, wherein the end effector of the articulated arm is configured to drop the object through the drop perception system.