NavBench-GS is a collection of real-world 3D Gaussian Splatting (3DGS) scenarios for benchmarking visual navigation models. Each scenario contains a reconstructed outdoor scene with paired USD meshes, 3DGS point clouds, and navigation waypoints.
Paper: S2E: From Seeing to Experiencing (ICLR 2026)
Project Page:
https://vail-ucla.github.io/S2E/NavBenchGS/
├── vid2sim_raw/… See the full description on the dataset page:
https://huggingface.co/datasets/UCLA-VAIL/NavBenchGS.
