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In this work , we present a technique for robust estimation , which by explicitly incorporating the inherent uncertainty of the estimation procedure , results in a more efficient robust estimation algorithm .
 used for: technique, robust estimation; used for: technique, efficient robust estimation algorithm; used for: inherent uncertainty of the estimation procedure, technique
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:
 used for: technique, robust estimation; used for: technique, efficient robust estimation algorithm; used for: inherent uncertainty of the estimation procedure, technique