Creating a simulation-ready 3D environment with interactive GUI
We build an interactive GUI to visualize the accumulated point clouds, and enable users to plan camera trajectories to revisit previously explored regions or venture into unobserved areas. Lyra 2.0 progressively generates the scene as the user moves in the scene.
The generated video can be further lifted into 3DGS and meshes, which can be directly exported to physics engines for downstream applications. We provide examples of exporting the scene into NVIDIA Isaac Sim for physically grounded robot navigation and interaction, highlighting the potential for scalable embodied AI simulation.