Implement Cloud-robotics

[aryan0931]

What type of PR is this?

/kind design

What this PR does / why we need it:

Implementation of Cloud-robotics singletask_learning

Which issue(s) this PR fixes:

Fixes #123

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[MooreZheng]

It is a basic version of the multi-modal model project for issue #123.

Before merging the PR,

1. As mentioned at the routine meeting, an output demonstration is needed.
2. We see that the metric issue is solved. But another four problems mentioned in the previous PR of Implementation of Cloud-robotics singletask_learning #168, i.e., the hardcoded, clean code, loggers, and wrong file name issues.