arXiv cs.AI· Changyeon Lee, Kelin Yu, Zheng Wei, Shuna Ni, Ruohan Gao·· 11 小时前AI 评分38
OdorSpaces：3D 环境中的视觉-嗅觉具身导航仿真平台与基准
OdorSpaces: Visual-Olfactory Embodied Navigation in 3D Environments
AI 导读
OdorSpaces 是面向视觉-嗅觉具身导航的物理仿真平台与基准，在 Habitat-Sim 上引入 Fire Dynamics Simulator（FDS）模拟 3D 气味传输与扩散，让智能体在照片级真实室内环境中同时利用视觉与嗅觉观测导航。
正文 · 原文
Abstract:Olfaction provides critical information about airborne chemical cues, yet it remains largely underexplored in embodied AI, with limited prior machine olfaction work focusing primarily on semantic odor perception. We introduce OdorSpaces, a physics-based simulation platform and benchmark for visual-olfactory embodied navigation. OdorSpaces augments Habitat-Sim with 3D odor transport and dispersion simulated by Fire Dynamics Simulator (FDS), enabling agents to navigate photorealistic indoor environments using both visual and olfactory observations. The benchmark includes two representative source-seeking scenarios: invisible gas-leak localization and early-stage fire localization. We develop an initial multimodal reinforcement learning policy that integrates visual observations and olfactory measurements over time. Experiments show that the policy outperforms a diverse set of baselines, establishing a strong reference for future research on visual-olfactory embodied navigation.
| Comments: | Accepted at the 10th Conference on Robot Learning (CoRL 2026). 20 pages, 4 figures, 6 tables |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG) |
| Cite as: | arXiv:2611.05738 [cs.RO] |
| (or arXiv:2611.05738v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2611.05738 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Changyeon Lee [view email]
[v1]
Tue, 3 Nov 2026 23:21:27 UTC (4,051 KB)
来源：arXiv cs.AI · arxiv.org