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Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural language processing, deep learning has not yet shown significant impact in robotics. Due to the gap between theory and application, there are many challenges when applying the results of deep learning to the real robotic systems. In this study, our long-termarXiv:1903.09761v1 fatcat:bfvsfsk6xrgkfokukflj6pyngq