Deep machine learning methods and apparatus related to manipulation of an object by an end effector of a robot. Some implementations relate to training a semantic grasping model to predict a measure that indicates whether motion data for an end effector of a robot will result in a successful grasp of an object; and to predict an additional measure that indicates whether the object has desired semantic feature(s). Some implementations are directed to utilization of the trained semantic grasping model to servo a grasping end effector of a robot to achieve a successful grasp of an object having desired semantic feature(s).