Before revision: Our approach is to combine 3D object instance segmentation and shape completion with classical regrasp planning. We use the perceptual modules to estimate their own uncertainty and then incorporate this uncertainty as a regrasp planning cost .
After revision: Our approach is to combine 3D object instance segmentation and shape completion to model the objects and (b) use a regrasp planner to decide grasps and places displacing the models to their goals. However, it is critical for the planner to account for uncertainty in the perceived models, as object geometries in unobserved areas are just guesses. We account for perceptual uncertainty by incorporating it into the regrasp planner's cost function .