I want to design a neural network / ConvNet to generate a set of points on a given map, which correspond to possible positions of a robot. The map contains a lot of empty space for walls, and the robots can't be in those positions. Therefore, the network should take in the map, and generate pairs of numbers (x, y) corresponding to places on the map that is not wall. What would be an appropriate choice of neural network structure to implement this task?
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