Figure 6.

The illustration of positive pair and negative pairs

Four different views of the agent in a room, based on the agent’s location and viewing direction. Image i and the blue image would be considered a positive pair. The rotation distance between the red image on the upper left and image i is larger than the set threshold; hence, they are considered a negative pair. Similarly, the position distance between the red image at the bottom right and image i is larger than the set threshold; hence, they are considered a negative pair.