{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/customizable-perturbation-synthesis-for","title":"Customizable Perturbation Synthesis for Robust SLAM Benchmarking","arxiv_id":"2402.08125","date":"2024-02-12","proceeding":null,"authors":["Xiaohao Xu","Tianyi Zhang","Sibo Wang","Xiang Li","Yongqi Chen","Ye Li","Bhiksha Raj","Matthew Johnson-Roberson","Xiaonan Huang"],"abstract":"Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Simulation-based benchmarks have emerged as a highly scalable approach for robustness evaluation compared to real-world data collection. However, crafting a challenging and controllable noisy world with diverse perturbations remains relatively under-explored. To this end, we propose a novel, customizable pipeline for noisy data synthesis, aimed at assessing the resilience of multi-modal SLAM models against various perturbations. This pipeline incorporates customizable hardware setups, software components, and perturbed environments. In particular, we introduce comprehensive perturbation taxonomy along with a perturbation composition toolbox, allowing the transformation of clean simulations into challenging noisy environments. Utilizing the pipeline, we instantiate the Robust-SLAM benchmark, which includes diverse perturbation types, to evaluate the risk tolerance of existing advanced multi-modal SLAM models. Our extensive analysis uncovers the susceptibilities of existing SLAM models to real-world disturbance, despite their demonstrated accuracy in standard benchmarks. Our perturbation synthesis toolbox, SLAM robustness evaluation pipeline, and Robust-SLAM benchmark will be made publicly available at https://github.com/Xiaohao-Xu/SLAM-under-Perturbation/.","url_abs":"https://arxiv.org/abs/2402.08125v1","url_pdf":"https://arxiv.org/pdf/2402.08125v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"customizable-perturbation-synthesis-for","repo_url":"https://github.com/xiaohao-xu/slam-under-perturbation","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2402.08125","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2402.08125"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/xiaohao-xu/slam-under-perturbation","reach":null}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"bf0bd7a8114f03f8","entry":"json_decode_pairs","repo":"xiaohao-xu/slam-under-perturbation","repo_kind":"official","path":"benchmark/Co-SLAM/analyze_res2.py","file_url":"https://github.com/xiaohao-xu/slam-under-perturbation/blob/HEAD/benchmark/Co-SLAM/analyze_res2.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"bf0bd7a8114f03f8"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}