NavArena

Embodied Navigation Infrastructure

Automated Asset Processing · Data Generation · Evaluation

System Framework¶

See Architecture for a detailed system overview. (A standalone framework diagram image can be added under docs/assets/images/ when available.)

Who Should Read This¶

New users → Start with Getting Started
Data engineers → Focus on Asset Preprocessing and Data Generator
Researchers → Focus on Evaluation Framework
Developers → See Extending Guide and API Reference

Core Modules¶

Asset Preprocessing

Convert raw 3DGS scenes to standardized assets with coordinate normalization, occupancy grid map generation, valid region estimation, V1 unified format, and web viewer.

View Docs →

Data Generator

Generate data for PointNav, ImageNav, ObjectNav, VLN and more. Multi-task pipeline, 3D GS scene rendering, and parallel episode generation.

View Docs →

Evaluation Framework

Evaluation framework based on 3D Gaussian Splatting and occupancy grids, supporting multiple tasks and agents (ViNT, GNM, NoMaD) with replay and visualization.

View Docs →

Troubleshooting & Support¶

See Troubleshooting
Submit an Issue on GitHub

Contributing¶

We welcome help in these areas:

Code and features: Improvements to the core library, asset preprocessing, data generator, and evaluation framework; bug fixes, new tasks/agents/metrics, performance, and extensibility
Documentation and examples: User guides and tutorials, keeping Chinese and English in sync, corrections, and best practices
Feedback and collaboration: Issues for bug reports, usage questions, or feature discussion

For environment setup and Fork/PR workflow, see Contributing.

Next Steps

Start with the Installation Guide or Quickstart to get up and running.