An example computer-implemented method includes receiving, from one or more vision components in an environment, vision data that captures features of the environment, including object features of an object that is located in the environment, and prior to a robot manipulating the object: (i) determining based on the vision data, at least one first adjustment to a programmed trajectory of movement of the robot operating in the environment to perform a task of transporting the object, and (ii) determining based on the object features of the object, at least one second adjustment to the programmed trajectory of movement of the robot operating in the environment to perform the task, and causing the robot to perform the task, in accordance with the at least one first adjustment and the at least one second adjustment to the programmed trajectory of movement of the robot.