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In the Object Recognition task , there exists a di-chotomy between the categorization of objects and estimating object pose , where the former necessitates a view-invariant representation , while the latter requires a representation capable of capturing pose information over different categories of objects .
 part of: categorization of objects, Object Recognition task; conjunction: categorization of objects, estimating object pose; part of: estimating object pose, Object Recognition task; used for: view-invariant representation, former; used for: representation, latter; used for: representation, pose information
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 part of: categorization of objects, Object Recognition task; conjunction: categorization of objects, estimating object pose; part of: estimating object pose, Object Recognition task; used for: view-invariant representation, former; used for: representation, latter; used for: representation, pose information