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http://kat354nas3.vsb.cz/iros2018/media/IROS18_KeynotesMedia.html
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http://kat354nas3.vsb.cz/iros2018/media/files/0174.pdf
vector wK+1 ∈ RN to the last FC layer. Thus, the K + 1 class probability is fcls(v)[K + 1] = 1 Z′ e wT K+1v , where Z ′ is a new normalization factor for
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