  In multiple realistic settings, a robot is tasked with grasping an object
without knowing its exact pose and relies on a probabilistic estimation of the
pose to decide how to attempt the grasp. We support settings in which it is
possible to provide the robot with an observation of the object before a grasp
is attempted but this possibility is limited and there is a need to decide
which sensing action would be most beneficial. We support this decision by
offering a novel Value of Assistance (VOA) measure for assessing the expected
effect a specific observation will have on the robot's ability to complete its
task. We evaluate our suggested measure in simulated and real-world
collaborative grasping settings.
