Embodiments of the present disclosure provide methods, apparatuses, systems and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, here the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a tool in a robot system. With these embodiments, reference positions for calibrating the tool may be obtained in an easy and effective way without complex manual operations.