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simmediumpolicy-learningmetric · varies
NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation
Description
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where trajectories often extend across multiple rooms or entire floors. In this work, we present NavGSim, a Gaussian Splatting-based simulator designed to generate high-fidelity, large-scale navigation environments. Built upon a hierarchical 3D Gaussian Splatting fr