E3VS-Bench supplies 99 3D Gaussian Splatting scenes and 2,014 episodes to test whether embodied agents can use unrestricted 5-DoF viewpoint control to answer questions that depend on fine-grained visual details visible only from specific angles.
In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2025)
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E3VS-Bench: A Benchmark for Viewpoint-Dependent Active Perception in 3D Gaussian Splatting Scenes
E3VS-Bench supplies 99 3D Gaussian Splatting scenes and 2,014 episodes to test whether embodied agents can use unrestricted 5-DoF viewpoint control to answer questions that depend on fine-grained visual details visible only from specific angles.