S. Sinha, H. Bharadhwaj, A. Goyal, H. Larochelle, A. Garg, and F. Shkurti. (2020)cite arxiv:2003.04514Comment: Samarth Sinha* and Homanga Bharadhwaj* contributed equally to this work. Code will be released at https://github.com/rvl-lab-utoronto/dibs.