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Girshick R, Donahue J, Darrell T, Malik J.  2016.  Region-Based Convolutional Networks for Accurate Object Detection and Segmentation. IEEE Transactions on Pattern Analysis and Machine Intelligence. 38(1):142-158.
Murali A, Garg A, Krishnan S, Pokory FT, Abbeel P, Darrell T, Goldberg K.  2016.  TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. IEEE International Conference on Robotics and Automation (ICRA). :4150-4157.