Before revision:  Even in real environment with long-term changing, Adaptive Mixture MCL is able to localize the robot using DMON trained only on simulated observations from a SLAM map , or even a blueprint map.
After revision:  Even in real environments with long-term changing, Adaptive Mixture MCL is able to localize the robot using DMON trained only on simulated observations from a SLAM map , or even a blueprint map.