Before revision:  The pipeline trains a deep convolutional neural network that takes as input an image of the scene with object and target. It computes a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion for a manipulator arm to dynamically manipulate the cable to perform a task with varying obstacle and target locations.
After revision:  The framework finds a 3D apex point for the robot arm, which, together with a task-specific trajectory function, defines an arcing motion for a manipulator arm to dynamically manipulate the cable to perform a task with varying obstacle and target locations.