  This paper presents an adaptive transformer model named SegmATRon for
embodied image semantic segmentation. Its distinctive feature is the adaptation
of model weights during inference on several images using a hybrid
multicomponent loss function. We studied this model on datasets collected in
the photorealistic Habitat and the synthetic AI2-THOR Simulators. We showed
that obtaining additional images using the agent's actions in an indoor
environment can improve the quality of semantic segmentation. The code of the
proposed approach and datasets are publicly available at
https://github.com/wingrune/SegmATRon.
