  We measure the escape speed curve of the Milky Way based on the analysis of
the velocity distribution of $\sim 2850$ counter-rotating halo stars from the
Gaia DR2. The distances were estimated through the StarHorse code, and only
stars with distance errors smaller than 10 per cent were used in the study. The
escape speed curve is measured at Galactocentric radii ranging from $\sim 5$
kpc to $\sim 10.5$ kpc. The local Galactic escape at the Sun's position is
estimated to be $v_\mathrm{e}(r_\odot)=580 \pm 63~\mathrm{km~s^{-1}}$, and it
rises towards the Galactic center. Defined as the minimum speed required to
reach three virial radii, our estimate of the escape speed as a function of
radius implies, for a Navarro-Frenk-White profile and local circular velocity
of $240~\mathrm{km~s^{-1}}$, a dark matter mass $M_{200}=1.28^{+0.68}_{-0.50}
\times 10^{12}~M_\odot$ and a high concentration
$c_{200}=11.09^{+2.94}_{-1.79}$. Assuming the mass-concentration relation of
$\Lambda$CDM, we get $M_{200}=1.55_{-0.51}^{+0.64}\times 10^{12}~M_\odot$,
$c_{200}=7.93_{-0.27}^{+0.33}$, for a local circular velocity of
$228~\mathrm{km~s^{-1}}$.
