用一张图生成可探索的3D虚拟世界，让AI自主规划行动路径。
GenEx: Generating an Explorable World
- 基于单张图片生成360度连贯的3D环境，支持全景视频流。
- 实现长轨迹下的稳定环路一致性，具备主动3D建图能力。
- 适合研究具身智能、虚拟世界构建与导航的开发者。
理解、导航和探索三维物理世界一直是人工智能发展的核心挑战。本文提出GenEx系统，通过生成式想象形成对环境的先验认知，引导复杂具身世界探索。GenEx仅需一张RGB图像即可生成完整一致的3D想象环境，并通过全景视频流呈现。基于从Unreal Engine收集的可扩展3D世界数据，该模型能高效构建连续360度环境，为智能体提供无限探索空间。GenEx在世界生成质量、长轨迹环路一致性以及3D一致性、主动建图等能力上表现优异。借助生成式世界想象，结合GPT辅助的智能体可完成无目标探索与有目标导航等复杂任务，利用对未知区域的预测预期来修正信念、模拟决策后果并作出更优选择。结果表明，GenEx为具身智能在想象空间中的发展提供了变革性平台，并有望拓展至真实世界探索。
原文摘要 · Abstract (English)
Understanding, navigating, and exploring the 3D physical real world has long been a central challenge in the development of artificial intelligence. In this work, we take a step toward this goal by introducing GenEx, a system capable of planning complex embodied world exploration, guided by its generative imagination that forms priors (expectations) about the surrounding environments. GenEx generates an entire 3D-consistent imaginative environment from as little as a single RGB image, bringing it to life through panoramic video streams. Leveraging scalable 3D world data curated from Unreal Engine, our generative model is rounded in the physical world. It captures a continuous 360-degree environment with little effort, offering a boundless landscape for AI agents to explore and interact with. GenEx achieves high-quality world generation, robust loop consistency over long trajectories, and demonstrates strong 3D capabilities such as consistency and active 3D mapping. Powered by generative imagination of the world, GPT-assisted agents are equipped to perform complex embodied tasks, including both goal-agnostic exploration and goal-driven navigation. These agents utilize predictive expectation regarding unseen parts of the physical world to refine their beliefs, simulate different outcomes based on potential decisions, and make more informed choices. In summary, we demonstrate that GenEx provides a transformative platform for advancing embodied AI in imaginative spaces and brings potential for extending these capabilities to real-world exploration.
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