Genie Sim PanoRecon: Fast Immersive Scene Generation from Single-View Panorama

• URL: http://arxiv.org/abs/2604.07105v1
• Date: Wed, 08 Apr 2026 13:57:18 GMT
• Title: Genie Sim PanoRecon: Fast Immersive Scene Generation from Single-View Panorama
• Abstract summary: We present Genie Sim PanoRecon, a feed-forward Gaussian-splatting pipeline that delivers high-fidelity, low-cost 3D scenes for robotic manipulation simulation.<n>The whole system reconstructs photo-realistic scenes in seconds and has been integrated into Genie Sim.
• Score: 10.779071888296679
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present Genie Sim PanoRecon, a feed-forward Gaussian-splatting pipeline that delivers high-fidelity, low-cost 3D scenes for robotic manipulation simulation. The panorama input is decomposed into six non-overlapping cube-map faces, processed in parallel, and seamlessly reassembled. To guarantee geometric consistency across views, we devise a depth-aware fusion strategy coupled with a training-free depth-injection module that steers the monocular feed-forward network to generate coherent 3D Gaussians. The whole system reconstructs photo-realistic scenes in seconds and has been integrated into Genie Sim - a LLM-driven simulation platform for embodied synthetic data generation and evaluation - to provide scalable backgrounds for manipulation tasks. For code details, please refer to: https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_world.

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