360CityArena: A Realistic Virtual Urban Navigation Benchmark for Embodied Agents

arXiv:2608.08814 · cs.CV, cs.AI, cs.LG · Submitted 2026-08-09 · Read on arXiv

Kenta Watanabe, Atsuyuki Miyai, Mizuki Takenawa, Kiyoharu Aizawa, Toshihiko Yamasaki

cs.CV, cs.AI, cs.LG

Submitted: 2026-08-09

Updated: 2026-08-11

Comments: ECCV2026. Project Page: https://360mm-team.github.io/360CityArena/

Project page: https://360mm-team.github.io/360CityArena

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 39× in this paper · explained in 2 episodes
• Localization — 17× in this paper · explained in 2 episodes
• Grounding — 9× in this paper · explained in 3 episodes
• Accuracy — 8× in this paper · explained in 1 episode
• Embodied AI — 7× in this paper · explained in 2 episodes
• Realistic Virtual World — 5× in this paper
• Benchmarking — 4× in this paper · explained in 4 episodes
• Vision-Language Navigation — 4× in this paper
• Evaluation Protocol — 3× in this paper · explained in 2 episodes
• Gaussian Splatting — 3× in this paper · explained in 5 episodes
• Generalization — 3× in this paper · explained in 14 episodes
• Google Street View — 3× in this paper
• 3D Gaussian Splatting — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Vision-language models — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Evaluation Framework — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Information Leakage — 1× in this paper · explained in 2 episodes
• MLLMs — 1× in this paper · explained in 2 episodes
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Planner — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• On Evaluation of Embodied Navigation Agents
• Qwen2.5-VL Technical Report
• Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities
• EmbodiedCity: A Benchmark Platform for Embodied Agent in Real-world City Environment
• SidewalkBench: Benchmarking Visual Navigation on Urban Sidewalks
• WebChoreArena: Evaluating Web Browsing Agents on Realistic Tedious Web Tasks
• MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments
• InternVL3.5: Advancing Open-Source Multimodal Models in Versatility, Reasoning, and Efficiency
• Can Large Vision Language Models Read Maps Like a Human?

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