A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.