Select the following models that may benefit from equivariance:

(Multiple Potential Answers)

Model that takes as input an image a cup that can be arbitrarily placed on a table, and infers where to grasp it.

Model that takes as input an image of a doorknob, and infers where to place the robot hand to twist it.

Model that takes as input an audio signal recorded for 10 minutes, and infers when the teakettle started boiling.

Model that takes as input an image of the sky, and classifies it as daytime or nighttime.