Before revision:  In this work, our goal is instead to fill the gap between affordance discovery and affordance-based policy learning by integrating the two objectives in an end-to-end imitation learning framework based on deep neural networks.
After revision:  In this work, our goal is instead to integrate the two objectives of affordance discovery and affordance-based policy learning by integrating the two objectives in an end-to-end imitation learning framework based on deep neural networks.