A robotic manipulation planning system, including at least one processor; and a non-transitory computer-readable storage medium including instructions that, when executed by the at least one processor, cause the at least one processor to: process perception data to detect known, familiar, and unknown objects to generate manipulation candidates; filter manipulation candidates against constraints to reduce the manipulation candidates; and determine quality metrics for the reduced manipulation candidates using a soft-body simulation technique.

A robotic manipulation planning system, including at least one processor; and a non-transitory computer-readable storage medium including instructions that, when executed by the at least one processor, cause the at least one processor to: process perception data to detect known, familiar, and unknown objects to generate manipulation candidates; filter manipulation candidates against constraints to reduce the manipulation candidates; and determine quality metrics for the reduced manipulation candidates using a soft-body simulation technique.