Dark Souls Preview
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Dark Souls is not an open world game, but the levels are more open to exploration than any of the dungeons of Demon's Souls. There are handy white lights that will guide you on the right path and you will be encouraged to stick to a rather linear path but you're only encouraged, not forced.
You want to go left instead of right? Go wild. Thing is, you're far more likely to be punished for straying than if you stuck to the planned route (you'll be punished there too, actually, but you get the point). It sounds an ideal way for Dark Souls to reward multiple playthroughs and returning to levels later with a more powerful character.