# Improving Robotic Grasping on Monocular Images Via Multi-Task Learning and Positional Loss

arXiv: https://arxiv.org/abs/2011.02888 · HTML: https://mlsanity.com/paper/2011.02888/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Nov 2020.

## Built on by (most cited first, 3 of 3)

- [Fast GraspNeXt: A Fast Self-Attention Neural Network Architecture for Multi-task Learning in Computer Vision Tasks for Robotic Grasping on the Edge](https://mlsanity.com/paper/2304.11196/) (2023)
- [Evaluating Gaussian Grasp Maps for Generative Grasping Models](https://mlsanity.com/paper/2206.00432/) (2022)
- [Monocular Depth Estimation from a Single Image: Progress and Opportunities](https://mlsanity.com/paper/2609.01172/) (2026)

## Abstract (arXiv)

In this paper, we introduce two methods of improving real-time object grasping performance from monocular colour images in an end-to-end CNN architecture. The first is the addition of an auxiliary task during model training (multi-task learning). Our multi-task CNN model improves grasping performance from a baseline average of 72.04% to 78.14% on the large Jacquard grasping dataset when performing a supplementary depth reconstruction task. The second is introducing a positional loss function that emphasises loss per pixel for secondary parameters (gripper angle and width) only on points of an object where a successful grasp can take place. This increases performance from a baseline average of 72.04% to 78.92% as well as reducing the number of training epochs required. These methods can be also performed in tandem resulting in a further performance increase to 79.12% while maintaining sufficient inference speed to afford real-time grasp processing.