Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for learning template representation libraries. In one aspect, a method includes obtaining an image depicting a physical environment, where the environment includes a given physical object. When possible, a position of the given object in the environment is inferred based on a template representation library using template matching techniques. In response to determining that the position of the given object in the environment cannot be inferred based on the template representation library using template matching techniques, the template representation library is automatically augmented with new template representations.
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