[('system performs dense 3d simultaneous localization', 33.5),
('induced motion segmentation reinforces learned models', 32.333333333333336),
('highest quality candidate object models', 23.083333333333332),
('simultaneous appearance-based object discovery', 15.25),
('3d level sets', 10.5),
('appearance-based object discovery', 10.25),
('unsupervised object discovery', 9.25),
('holistic pipeline capable', 9.0),
('gain additional motion-cues', 9.0),
('baxter robot demonstrate', 7.75),
('improve models', 6.333333333333333),
('motion cues', 6.0),
('automatic discovery', 5.0),
('unsupervised framework', 4.5),
('represented implicitly', 4.0),
('rgbd cameras', 4.0),
('spatio-temporal super-pixels', 4.0),
('mapping concurrently', 4.0),
('live experiments', 4.0),
('jointly discover', 4.0),
('visually coherent', 4.0),
('robot manipulator', 3.75),
('unknown objects', 3.666666666666667),
('putative objects', 3.666666666666667),
('robot', 1.75),
('objects', 1.6666666666666667),
('appearance', 1.0),
('precision', 1.0),
('verification', 1.0),
('form', 1.0),
('verify', 1.0),
('approaches', 1.0),
('reconstruction', 1.0),
('recall', 1.0),
('present', 1.0),
('detection', 1.0),
('capture', 1.0),
('spatially', 1.0),
('structure', 1.0),
('tracking', 1.0),
('shape', 1.0),
('learn', 1.0),
('compare', 1.0),
('find', 1.0),
('terms', 1.0),
('manipulated', 1.0),
('2d', 1.0)]