Recursive Code World Models: Building Complex Worlds through Recursive Scene Programs

2026-09-10

AI Summary

本文提出递归代码世界模型（RCWM），通过从单个参考图像重建复杂3D世界的可执行程序，利用递归场景程序和构造求解器解决复杂世界构建问题。

Abstract

Code world models represent worlds as executable programs, but this representation alone does not determine how to construct a complex world. We introduce Recursive Code World Models (RCWM), a framework for reconstructing complex 3D worlds in code from a single reference image. RCWM couples a Recursive Scene Program (RSP) representation with a construction solver that recursively calls itself. An RSP represents the executable world as compositional scene code, while each solver call follows the same complete process: establish the whole, recursively reconstruct unresolved parts, and revisit the whole to refine their composition. This global-local-global recursion gives fine-scale structures their own perception-and-editing loops while preserving scene-wide geometry and relationships. Reference-aligned views propagate a shared camera projection across levels, while parent revisitation addresses boundaries, spatial relations, and shared errors that emerge after local refinement. A vision-language coding agent directly compares reference images with scene renders to guide refinement, recursive descent, and return. Across complex scenes, RCWM outperforms prior code-based image-to-scene reconstruction methods. Ablation studies further support the benefits of recursive construction and suggest that deeper calls can improve finer-scale reconstruction. RCWM provides a recursive construction principle for building complex executable worlds from visual evidence.

Problem

• Recursive Code World Models
• executable programs
• 3D world reconstruction
• scene programs

Innovation

• Recursive Code World Models
• Recursive Scene Program
• recursive construction