360CityArena: A Realistic Virtual Urban Navigation Benchmark for Embodied Agents
We present 360CityArena, a benchmark for evaluating the urban exploration capabilities of embodied agents within a photorealistic environment constructed from 360-degree videos. Existing outdoor benchmarks either lack sufficient photorealism or complexity, resulting in a considerable gap from real-world urban environments. 360CityArena is built on a realistic reconstruction of the Akihabara district in Tokyo, Japan, using 602 360-degree video segments covering 85 streets, and consists of 175 meticulously human-crafted tasks. It encompasses three task categories: Environment Understanding, Path Reasoning, and Spatial Reasoning, covering fundamental abilities required for urban exploration,...
| Authors | Kenta Watanabe, Atsuyuki Miyai, Mizuki Takenawa et al. |
|---|---|
| Primary category | cs.CV |
| Published | 9 August 2026 |
| Last updated at source | 9 August 2026 |
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