1. A method, comprising: detecting an object based on data from one or more sensors of a robot; capturing, by a thermographic camera of the sensors of the robot, at least one thermal image of the object prior to expiration of a threshold amount of time following completion of manipulation of the object by a human; capturing, by the thermographic camera, at least one additional thermal image of the object, the additional thermal image of the object captured either before the manipulation of the object by the human or after expiration of the threshold amount of time following the completion of the manipulation of the object by the human; generating, by one or more processors, a grasp affordance for the object based on differences in temperatures indicated by the thermal image and the additional thermal image, the grasp affordance defining one or more portions of the object touched by the human during the manipulation of the object by the human; and storing the grasp affordance for the object in a non-transitory computer readable storage medium for determining one or more grasping parameters for manipulating the object or other objects that are similar to the object.