Abstract: The system can include a warehouse management system, a motion planner, an optional user interface (UI), and/or any other suitable components. The system can include or interface with a set of robots and a cell frame structure. However, the system can additionally or alternatively include any other suitable set of components. The system functions to facilitate automated storage and/or retrieval of payloads (e.g., cell trays, pallets, etc.) within a warehouse. Additionally or alternatively, the system can function to dynamically rebalance and/or rearrange the payloads, such as to increase global throughput efficiency (e.g., reduce storage and/or retrieval times; reduce number of required actions; etc.).