AIIDE 2005: From Pathfinding to General Spatial Competence - Damián Isla
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 Larger version (205K) Notes:
This is one area where the Halo representations are notably impovrished. We don't recognize separate rooms - mostly because the geometry rarely breaks down so neatly.
And of course there could be other game-relevant spatial concepts stitched into this representation as well: such as "the way forward".
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