Abstract: Methods and systems for determining a grasp proposal for object picking by a robot gripper are descried wherein the method may comprise capturing an image comprising an object to be grasped by the robot gripper; providing the image to a deep neural network system that is trained to generate an object segmentation map for identifying pixels in the image that are associated with the object and to generate a plurality of object property maps, each object property map linking pixels of the object to information about a predetermined object property; and, determining a grasp proposal for a controller of the robot based on the one or more generated object property maps.