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. Author manuscript; available in PMC: 2021 Oct 6.
Published in final edited form as: IEEE Int Conf Robot Autom. 2020 Sep 15;2020:10.1109/icra40945.2020.9196537. doi: 10.1109/icra40945.2020.9196537

Fig. 8:

Fig. 8:

(Left) Future prediction by the extended network under various unseen conditions (Right) Different futures predicted by changing the goal input (rectangle frames are fixed, added to clarify shifted positions of the tool)