Semantic Radiance Fields as Simulators for Spatial Reasoning in Real-World Scenes
Training and evaluating spatial reasoning in embodied agents requires diverse environments that are both geometrically faithful and semantically queryable. Synthetic simulators offer ground truth semantics but sacrifice realism; simulators based on reconstructions of real-world environments have realistic appearance but lack ground truth semantics by default. We propose using Semantic Radiance Fields (SRF) as simulators for spatial reasoning agents. SRFs are a representation that unifies these requirements by lifting 2D semantic segmentations from pretrained vision models into a 3D radiance field that jointly encodes geometry, appearance, and per-class semantic identity. The resulting fie...
| Authors | Nico Heider, Michał Jan Włodarczyk, Katarzyna Wasielewska-Michniewska et al. |
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| Primary category | cs.RO |
| Published | 13 August 2026 |
| Last updated at source | 13 August 2026 |
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