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arXiv · 2604.07105

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

Zhijun Li·Yongxin Su·Di Yang·Jichao Wang·Zheyuan Xing·Qian Wang·Maoqing Yao
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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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Zhijun Li, Yongxin Su, Di Yang, Jichao Wang, Zheyuan Xing, Qian Wang, Maoqing Yao. 2026-04-08. Genie Sim PanoRecon: Fast Immersive Scene Generation from Single-View Panorama. https://arxiv.org/abs/2604.07105

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