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ICLR 2026 paper SAGE-3D adds collision and semantics to 3DGS scenes to support vision-language navigation

The ICLR 2026 paper SAGE-3D proposes decoupling and assembling 3DGS rendering, source-mesh collision bodies, and manual semantic annotations into an executable navigation environment, modeled as a semantics- and physics-enhanced POMDP. Its object-level semantic anchoring provides category, instance ID, and bounding box, while physics-aware execution assembles collision bodies extracted from source meshes via CoACD convex decomposition and embeds them into the 3DGS scene.

Part of the event: SAGE-3D proposes 3DGS semantic-physical enhanced navigation method

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