Mundo: From seeing a place to simulating what happens there

Mundo is a customized world-model system that turns a small set of images or video views of a real environment into an explorable, editable, and physically simulated virtual scene. It reconstructs rooms and objects as an explicit 3D proxy built largely from bounding boxes, using foundation models for geometry, object detection, and vision-language agents that iteratively refine scene layouts against the source images. A code-based scene program stores object properties and governs changes over time, while the MuJoCo physics simulator models gravity, collisions, object motion, and robot interactions. Mundo then converts simulations into proxy videos that condition a diffusion-based renderer, producing visually realistic videos from new camera paths while maintaining the appearance of the original setting. The system supports viewpoint exploration, object edits, physical interactions, and robot navigation for potential real-to-simulation applications, although reconstruction and rendering remain slow, small-object interactions can be unreliable, and long dynamic sequences may lose visual consistency.

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