A system and a method for operating a robot. The system includes a first data collector coupled to the robot and configured to determine first position information of the robot based on feedback data received from the robot. The system also includes a second data collector coupled to a sensor and configured to determine second position information of an object to be operated by the robot based on sensing data received from the sensor. The system further comprises a first estimator coupled to the first data collector and the second data collector, and configured to generate a first prediction of a target position at which the object is operated by the robot and a command generator configured to generate a command for operating the robot at least partially based on the first prediction.