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  "abstract": "A method includes receiving a mapping video of a scene; generating a map of the scene based on the mapping video; receiving a plurality of demonstration videos of a hand-held manipulation device performing one or more tasks in the scene; for each video among the plurality of demonstration videos, determining whether the hand-held manipulation device can be localized in the scene based on the video and the map; and for each video among the plurality of demonstration videos for which the hand-held manipulation device can be localized in the scene, localizing the hand-held manipulation device in the scene based on the video and the map, and storing the video as training data.",
  "assignees": [
    "TOYOTA MOTOR CO LTD",
    "TOYOTA RES INST INC"
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    "ITKINA MIKHAL",
    "NOGUCHI YUKI",
    "WULFE BLAKE"
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  "title": "Yield checking for a hand-held manipulation device",
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