AI 中文总结
研究人员提出NavArena框架，可基于3D高斯溅射重建自动化构建面向目标的导航基准，生成大量专家轨迹并实现可扩展可复现的导航评估，相关工具和资产将公开。
AI 中文摘要
固定的3D高斯溅射（3DGS）重建能提供逼真的新视图，但缺乏导航评估所需的可通行性约束、有效目标和闭环协议。我们提出NavArena，这是一个将固定3DGS重建转化为面向目标视觉导航基准的自动化框架。NavArena整合了用于自中心RGB-D渲染的冻结3DGS模型、由高斯密度和高度统计数据推导的用于可达性和碰撞查询的占用代价图，以及从多视图开放词汇掩码中提取的语义目标候选。这些组件支持面向目标导航场景的自动生成和统一闭环评估。在超过2000个场景中，NavArena生成了2220万条专家轨迹。空间和语义评估对推导的导航表示进行评估，而策略滚动展示了统一评估协议的诊断价值。NavArena支持在大规模3DGS重建上进行可扩展且可复现的导航评估，所有基准生成工具、评估协议和推导的资产将公开发布。
英文摘要
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.
