NavArena: Automated Construction of Goal-Oriented Navigation Benchmarks from 3D Gaussian Splatting Reconstructions

2026-09-03

AI Summary

为解决3DGS重建中缺乏导航评估所需条件的问题，NavArena通过自动生成目标导向的导航基准来实现可扩展且可重复的导航评估。

Abstract

Fixed 3D Gaussian Splatting (3DGS) reconstructions provide realistic novel views but lack the traversability constraints, valid goals, and closed-loop protocols required for navigation evaluation. We introduce NavArena, an automated framework that transforms fixed 3DGS reconstructions into benchmarks for goal-oriented visual navigation. NavArena integrates a frozen 3DGS model for egocentric RGB-D rendering, an occupancy costmap derived from Gaussian density and height statistics for reachability and collision queries, and semantic goal candidates lifted from multi-view open-vocabulary masks. These components support the automatic generation and unified closed-loop evaluation of goal-oriented navigation episodes. Across more than 2{,}000 scenes, NavArena generates 22.2 million expert trajectories. Spatial and semantic evaluations assess the derived navigation representations, while policy rollouts demonstrate the diagnostic value of the unified evaluation protocol. NavArena enables scalable and reproducible navigation evaluation on large-scale 3DGS reconstructions, and all benchmark-generation tools, evaluation protocols, and derived assets will be released publicly.

Problem

• 3D Gaussian Splatting
• navigation evaluation
• traversability constraints
• valid goals
• closed-loop protocols

Innovation

• 3D Gaussian Splatting
• goal-oriented navigation
• automated framework
• occupancy costmap
• semantic goal candidates