arXiv Computer Vision
3d ago

Habitat-GS: A High-Fidelity Navigation Simulator with Dynamic Gaussian Splatting

Habitat-GS is a navigation-focused embodied AI simulator that extends Habitat‑Sim by incorporating 3D Gaussian Splatting (3DGS) for real‑time photorealistic rendering and scalable asset import. It introduces a Gaussian avatar module that represents dynamic humans as both photorealistic visual entities and navigation obstacles, enabling agents to learn human‑aware behaviors. Experiments show that agents trained on 3DGS scenes generalize better across domains and that the avatar system supports effective human‑aware navigation while maintaining system scalability.

By Ziyuan Xia, Jingyi Xu, Chong Cui, Yuanhong Yu, Jiazhao Zhang, Qingsong Yan, Tao Ni, Junbo Chen, Xiaowei Zhou, Hujun Bao, Ruizhen Hu, Sida Peng