Figure 5.

Negative Label Synthesis. Red arrow denotes the optimal heading direction, i.e., manual input from a remote control. Negative labels are rotations of this optimal heading direction, $k=\pm 1,\cdots ,\pm K$. More image-label pairs are synthesized with small rotation angles (small $\parallel k\parallel$ values) with respect to the optimal heading direction, in order to enhance the navigation “inertia”, i.e., to avoid frequent, unnecessary drastic steering adjustments.