 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.
<clarity>  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.
 Even in real environment with long-term changing, Adaptive Mixture MCL is able to localize the robot using DSOM trained only by simulation observations from a SLAM map , or even a blueprint map.