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I don't know about ancient, but in the early 1400s the admiral Cheng Ho, in a series of seven voyages, explored and made diplomatic contact with south East Asia, India, the Persian Gulf, Africa and the islands of the Pacific. Michael Montagne There was a diplomatic mission carried out by Zhang Chen during the reign of Emperor Han Wudi (Western Han Dynasty)to seek out allies in Central Asia to fight against the XiongNu tribes that is bordering the Han during that time. He is also credited with the opening of the Silk Route from Chang'An (today's Xi'an) to Rome. An another explorer was the Zheng He

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Q: Did China have any ancient explorers?
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