UCLA-VAILapache-2.0

NavBench-GS: 3D Gaussian Splatting Scenarios for Visual Navigation

Name: NavBench-GS: 3D Gaussian Splatting Scenarios for Visual Navigation
Creator: UCLA-VAIL
License: apache-2.0
Keywords: point_cloud, 3d_mesh, navigation, outdoor

A collection of real-world 3D Gaussian Splatting (3DGS) scenarios for benchmarking visual navigation models, containing reconstructed outdoor scenes with USD meshes, 3DGS point clouds, and navigation waypoints.

Downloads121

Technical Profile

Modalities: point_cloud3d_mesh
Robot Embodiments: mobile_robot
Environment: outdoor
Task Types: navigation
Data Format: USD
License: apache-2.0

Part of the NavBench-GS: 3D Gaussian Splatting Scenarios for Visual Navigation family

Access

View on HuggingFace

Need custom point_cloud data?

Claru builds purpose-built datasets for outdoor applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3

127K downloadsApr 2026other

TartanGround

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

rgbdepthsemantic_segmentationoptical_flow+5

32K downloadsOct 2025cc-by-4.0

ManiTwin-100K: Manipulation-Ready Digital Object Twins

A large-scale dataset of 100K manipulation-ready digital object twins with simulation-ready 3D meshes, physical properties, functional point annotations, grasp configurations, and language descriptions validated through physics-based simulation.

3d_meshlanguage

22K downloadsApr 2026cc-by-nc-4.0

ManiTwin-100K: Manipulation-Ready Digital Object Twins

point_cloudlanguage

7K downloadsMar 2026apache-2.0

FastUMI Pro – Multimodal Sample Dataset

Small-scale demonstration data from the FastUMI Pro multimodal sensing system, containing dozens of sample trajectories with synchronized RGB images, point clouds, pose tracking, and haptic feedback. Full-scale datasets are available upon request.

rgbpoint_cloudproprioceptiontactile

3K downloadsApr 2026other

Multi-View 3D Point Tracking Datasets

Training and evaluation datasets for multi-view 3D point tracking in dynamic scenes, comprising synthetic Kubric sequences and real-world benchmarks from Panoptic Studio and DexYCB.

rgbdepthpoint_cloud

2K downloadsMar 2026other