You can petition the court to modify the custody arrangement if there has been a material and substantial change in circumstances. You need a family law attorney to help you with that. If by losing custody, you mean your parental rights were terminated, there is nothing you can do.
If your parental rights were terminated, then it's too late. If the child was placed with the other parent or a third party custodian you can go to court and ask that the parenting plan or third party custodianship be modified. Whether or not that happens depends on a long list of criteria.
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