Schlereth-Groh, Benedikt, et al. “Transferable RL for Real-World Navigation Using Semantic Segmentation and Bird’s-Eye View Abstraction”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 40, no. 47, Mar. 2026, pp. 40416-22, doi:10.1609/aaai.v40i47.41484.