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Acknowledgements

We thank members of the Berkeley Artificial Intelligence Research Lab (BAIR), in particular Andrew Owens, for helpful discussions, as well as Saurabh Gupta for help with RGB-D experiments. This research was supported, in part, by Berkeley Deep Drive (BDD) sponsors, hardware donations by NVIDIA Corp and Algorithmia, an Intel research grant, NGA NURI, NSF IIS-1633310, and NSF SMA-1514512. Thanks Obama.