Preprint
Aug 2026
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 bu...
Nico Heider, Michal Jan Wlodarczyk, Katarzyna Wasielewska-Michniewska et al.
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