4DSynth: 動的具現化シミュレーションのための制御可能な手続き型ワールド合成
4DSynth: Controllable Procedural World Synthesis for Dynamic Embodied Simulation
自然言語記述、ブループリントマスク、または単一の写真から、編集可能で物理シミュレーション可能な4D環境を自動生成する手続き型システムを提案し、生成した環境を用いたナビゲーションベンチマークも構築した。
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著者: Zehao Qi, Haochen Luo, Jia-Wang Bian, Zeyu Ma, Shuyang Sun
分類: cs.RO, cs.CV
原文アブストラクト
Embodied agents need environments that are visually diverse, physically interactive, and changing over time. Procedural simulators can generate large interactive scene collections, and recent 4D generators produce compelling visual dynamics. Combining these properties in one environment, however, still demands extensive manual effort, and the result is rarely editable or controllable enough to reuse at scale. We present 4DSynth, a controllable procedural system that turns a natural-language description, a blueprint mask, or a single photograph into an editable 4D environment with explicit geometry, animated actors, collision-free trajectories, and physics-ready simulation state. Multiple scene routes share one geometry-grounded representation, so the same pipeline handles animation, camera planning, rendering, and task generation. To validate the full pipeline, we construct 4DSynth-Nav, an interactive navigation benchmark generated entirely from 4DSynth's procedural scenes. Two vision-language models evaluated across three difficulty tiers both fail the majority of tasks and stall after early subtasks. The same procedural controllability that produces these environments also makes each failure reproducible and each difficulty axis independently tunable. This paper presents both a controllable generation pipeline and the scalable benchmark it enables, offering a practical foundation for developing and evaluating embodied agents.