Before revision:  By  modelling a manipulation task as a coarse, approach trajectory followed by a fine, interaction trajectory, this state estimator can be trained in a self-supervised manner, by automatically moving the end-effector's camera around the object.
After revision:  By then modelling a manipulation task as a coarse, approach trajectory followed by a fine, interaction trajectory, this state estimator can be trained in a self-supervised manner, by automatically moving the end-effector's camera around the object.