Recent advances in Robotics research are pushing the boundaries of machines applicability more and more toward the deployment of autonomous dexterous robots in our everyday life. However, this comes with significant conceptual and practical difficulties related to the interaction with the humans and the surrounding word. Of note, the latter is shaped to be functional to its usability by humans: just think of objects of daily living, that are made to afford a specific grasp type for a selection of possible tasks. However, state of the art method usually limit the robot-objects interactions to a mere pick and place of objects, while little has been done to learn how to grasp an object depending on the envisioned task.