الملخص
State-of-the-art visual locomotion controllers are increasingly capable at handling complex visual environments, making evaluating their real-world performance before deployment increasingly difficult. This work intends to narrow this train/evaluation gap by developing a collection of hyper-photo-realistic, closed-loop evaluation environments - The Neverwhere Benchmark Suite - comprised of over sixty 3D Gaussian Splatting reconstructions of urban indoor and outdoor scenes. Our goal is to encourage large-scale and reproducible robot evaluation by making it easier to create and integrate Gaussian splats-based reconstructions into simulated continuous testing setups. We also underscore the potential pitfalls of relying exclusively on 3D Gaussian-generated data for training, by providing policy checkpoints trained over multiple Neverwhere scenes and their performance when evaluated in novel scenes. Our analysis illustrates the necessity of sourcing diverse data to ensure performance. Code and data are available on the project page: https://ziyc.github.io/neverwhere-bench/.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Chen, Z., Bao, H., Chang, H., Yu, A., Choi, R., McClennen, K., Huh, G., Yang, K., Qiu, R. Z., Ravan, Y., Leonard, J. J., Wang, X., Isola, P., Yang, G., & Wang, Y. (2026). The Neverwhere Visual Parkour Benchmark Suite. https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite
MLA 9
Chen, Ziyu, et al. "The Neverwhere Visual Parkour Benchmark Suite." https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite.
شيكاغو (المؤلف–التاريخ)
Chen, Ziyu, Henghui Bao, Haoran Chang, Alan Yu, Ran Choi, Kai McClennen, Gio Huh, Kevin Yang, Ri-Zhao Qiu, Yajvan Ravan, John J. Leonard, Xiaolong Wang, Phillip Isola, Ge Yang, and Yue Wang. 2026. "The Neverwhere Visual Parkour Benchmark Suite." https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite.
هارفارد
Chen, Z., Bao, H., Chang, H., Yu, A., Choi, R., McClennen, K., Huh, G., Yang, K., Qiu, R. Z., Ravan, Y., Leonard, J. J., Wang, X., Isola, P., Yang, G. and Wang, Y. (2026) 'The Neverwhere Visual Parkour Benchmark Suite', Available at: https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite.
فانكوفر
Chen Z, Bao H, Chang H, Yu A, Choi R, McClennen K, et al. The Neverwhere Visual Parkour Benchmark Suite. https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite
IEEE
Z. Chen, H. Bao, H. Chang, A. Yu, R. Choi, K. McClennen, G. Huh, K. Yang, R. Z. Qiu, Y. Ravan, J. J. Leonard, X. Wang, P. Isola, G. Yang, and Y. Wang, "The Neverwhere Visual Parkour Benchmark Suite," https://omanscience.com/ar/articles/the-neverwhere-visual-parkour-benchmark-suite.