SAGE-3D InteriorGS: 1,000 USDZ Format 3D Gaussian Scenes

SAGE-3D InteriorGS USDZ provides 1,000 3D Gaussian scenes converted to USDZ format for robotics and simulation research. Released by spatialverse in December 2025, it enables direct integration of high-fidelity indoor environments into NVIDIA Isaac Sim 5.0.

Use Cases

• Embodied navigation training using the USDZ scene files to simulate robot movement in Isaac Sim
• Vision-Language Navigation (VLN) research by mapping natural language instructions to the 3D spatial layouts
• Synthetic data generation for 3D object detection by rendering the indoor scenes from multiple camera angles

Strengths

• 1,000 converted 3D scenes
• Native USDZ format compatibility
• Optimized for Isaac Sim 5.0

Limitations

• Limited to indoor environments
• CC BY-NC 4.0 license prohibits commercial use
• Potential conversion artifacts from 3D Gaussian Splatting to USDZ format

Provenance

Source

InteriorGS (Arxiv 2510.21307)

Collection Method

Synthetic conversion of 3D Gaussian Splatting data to USDZ format

Freshness

Released December 2025