A computerized method comprising: during motion of a robotic manipulator arranged to grasp objects in an environment of the robotic manipulator, capturing images with an imaging sensor of the robotic manipulator, the images providing different views of one or more objects of the objects in the environment of the robotic manipulator; based on the different views provided by the captured images, finding candidate grasp locations for performing a grasp of a respective object of the one or more objects of the objects in the environment of the robotic manipulator; calculating respective values indicative of grasp quality for the candidate grasp locations; and based on the calculated respective values indicative of grasp quality for the candidate grasp locations, selecting a grasp location and trajectory likely to result in a successful grasp of the respective object of the one or more objects of the objects in the environment of the robotic manipulator; and commanding motion of the robotic manipulator along the selected trajectory to reach the selected grasp location, wherein the method further comprises executing with a gripper attached to the robotic manipulator a grasping at the selected grasp location to grasp the respective object of the one or more objects of the objects in the environment of the robotic manipulator, and wherein when the executing of the selected grasp location results in a successful grasping of the respective object of the one or more objects of the objects in the environment of the robotic manipulator, moving the successfully grasped object to a desired location, and during the moving of the successfully grasped object to the desired location, capturing images with the imaging sensor of the robotic manipulator, the images providing different views of one or more remaining objects of the objects in the environment of the robotic manipulator, the method further comprising based on the different views provided by the captured images of the one or more remaining objects of the objects in the environment of the robotic manipulator, planning a next trajectory of the robotic manipulator. during motion of a robotic manipulator arranged to grasp objects in an environment of the robotic manipulator, capturing images with an imaging sensor of the robotic manipulator, the images providing different views of one or more objects of the objects in the environment of the robotic manipulator; based on the different views provided by the captured images, finding candidate grasp locations for performing a grasp of a respective object of the one or more objects of the objects in the environment of the robotic manipulator; calculating respective values indicative of grasp quality for the candidate grasp locations; and based on the calculated respective values indicative of grasp quality for the candidate grasp locations, selecting a grasp location and trajectory likely to result in a successful grasp of the respective object of the one or more objects of the objects in the environment of the robotic manipulator; and commanding motion of the robotic manipulator along the selected trajectory to reach the selected grasp location, wherein the method further comprises executing with a gripper attached to the robotic manipulator a grasping at the selected grasp location to grasp the respective object of the one or more objects of the objects in the environment of the robotic manipulator, and wherein when the executing of the selected grasp location results in a successful grasping of the respective object of the one or more objects of the objects in the environment of the robotic manipulator, moving the successfully grasped object to a desired location, and during the moving of the successfully grasped object to the desired location, capturing images with the imaging sensor of the robotic manipulator, the images providing different views of one or more remaining objects of the objects in the environment of the robotic manipulator, the method further comprising based on the different views provided by the captured images of the one or more remaining objects of the objects in the environment of the robotic manipulator, planning a next trajectory of the robotic manipulator.