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

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

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. T

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