1. A computer-implemented method comprising: operating, by one or more processors, an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of multiple observed physical objects in a physical environment; providing, by the object recognition client, to one or more remote computing devices operating remotely from the one or more processors, data indicative of the observed objects; receiving, by the object recognition client, from one or more of the remote computing devices, a plurality of inferences about object types or poses of the multiple observed objects; identifying a graph of nodes, wherein each node represents an inference about an object type or pose of one of the multiple observed objects, wherein at least a subset of nodes of the graph are connected to each other by one or more edges, and wherein each edge indicates a lack of collision between inferences represented by nodes that the edge connects; and determining, by the object recognition client, information about one or more of the multiple observed objects based on the graph of nodes.