Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.