Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for navigation using visual inputs. One of the systems includes a mapping subsystem configured to, at each time step of a plurality of time steps, generate a characterization of an environment from an image of the environment at the time step, wherein the characterization comprises an environment map identifying locations in the environment having a particular characteristic, and wherein generating the characterization comprises, for each time step: obtaining the image of the environment at the time step, processing the image to generate a first initial characterization for the time step, obtaining a final characterization for a previous time step, processing the characterization for the previous time step to generate a second initial characterization for the time step, and combining the first initial characterization and the second initial characterization to generate a final characterization for the time step.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for navigation using visual inputs. One of the systems includes a mapping subsystem configured to, at each time step of a plurality of time steps, generate a characterization of an environment from an image of the environment at the time step, wherein the characterization comprises an environment map identifying locations in the environment having a particular characteristic, and wherein generating the characterization comprises, for each time step: obtaining the image of the environment at the time step, processing the image to generate a first initial characterization for the time step, obtaining a final characterization for a previous time step, processing the characterization for the previous time step to generate a second initial characterization for the time step, and combining the first initial characterization and the second initial characterization to generate a final characterization for the time step.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for augmenting visible content of ad creatives. In various implementations, a document associated with a destination linked to by an ad creative may be identified. One or more templates may be applied to content of the document to identify at least one content candidate with which to augment visible content of the ad creative. It may be determined that the at least one content candidate satisfies a criterion. Visible content of the ad creative may be augmented based on the at least one content candidate.

Abstract: Methods and apparatus related to automatically rewriting a string of text utilizing one or more rewrite rules. Some implementations are directed to scoring rewrite rules based at least in part on user interactions with rewrites that are generated by applying the rewrite rules. Some implementations are directed to determining the effectiveness of a rewrite generated based on applying one or more rewrite rules to a string of text. In some of those implementations, the determination may be based at least in part on one or more characteristics of the string of text, one or more characteristics of the rewrite, and/or scores associated with the rewrite rules.

Abstract: Methods and apparatus related to automatically rewriting a string of text utilizing one or more rewrite rules. Some implementations are directed to scoring rewrite rules based at least in part on user interactions with rewrites that are generated by applying the rewrite rules. Some implementations are directed to determining the effectiveness of a rewrite generated based on applying one or more rewrite rules to a string of text. In some of those implementations, the determination may be based at least in part on one or more characteristics of the string of text, one or more characteristics of the rewrite, and/or scores associated with the rewrite rules.