1. A method, comprising: determining by one or more processors a plurality of predicted ranges of measurements of an identified object based on sensor data received from one or more sensors; determining a plurality of distinct trajectories for moving the identified object from an initial location to a drop-off location with an end effector of a robotic manipulator, wherein the plurality of distinct trajectories correspond to the plurality of predicted ranges of measurements; causing the robotic manipulator to pick up the identified object with the end effector; after causing the robotic manipulator to pick up the identified object with the end effector, receiving additional sensor data from the one or more sensors indicative of one or more measurements of the identified object; based on the received additional sensor data, selecting a trajectory for moving the identified object to the drop-off location from the plurality of determined distinct trajectories; and causing the robotic manipulator to move the identified object through the selected trajectory.