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README.md
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# *EmbodiedGen*: Towards a Generative 3D World Engine for Embodied Intelligence # *EmbodiedGen*: Towards a Generative 3D World Engine for Embodied Intelligence
[![🌐 Project Page](https://img.shields.io/badge/🌐-Project_Page-blue)](https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html) [![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/)
[![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600) [![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600)
[![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk) [![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)
<!-- [![🌐 Project Page](https://img.shields.io/badge/🌐-Project_Page-blue)](https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html) -->
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Texture_Gen_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Texture_Gen_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
> ***EmbodiedGen*** is a generative engine to create diverse and interactive 3D worlds composed of high-quality 3D assets(mesh & 3DGS) with plausible physics, leveraging generative AI to address the challenges of generalization in embodied intelligence related research. > ***EmbodiedGen*** is a generative engine to create diverse and interactive 3D worlds composed of high-quality 3D assets(mesh & 3DGS) with plausible physics, leveraging generative AI to address the challenges of generalization in embodied intelligence related research.
> It composed of six key modules: `Image-to-3D`, `Text-to-3D`, `Texture Generation`, `Articulated Object Generation`, `Scene Generation` and `Layout Generation`. > It composed of six key modules: `Image-to-3D`, `Text-to-3D`, `Texture Generation`, `Articulated Object Generation`, `Scene Generation` and `Layout Generation`.
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--- ---
## ✨ Table of Contents of EmbodiedGen ## ✨ Table of Contents of EmbodiedGen
[![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/) Follow the documentation to get started!
- [🖼️ Image-to-3D](#image-to-3d) - [🖼️ Image-to-3D](#image-to-3d)
- [📝 Text-to-3D](#text-to-3d) - [📝 Text-to-3D](#text-to-3d)
- [🎨 Texture Generation](#texture-generation) - [🎨 Texture Generation](#texture-generation)
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## 🚀 Quick Start ## 🚀 Quick Start
[![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/)
### ✅ Setup Environment ### ✅ Setup Environment
```sh ```sh
git clone https://github.com/HorizonRobotics/EmbodiedGen.git git clone https://github.com/HorizonRobotics/EmbodiedGen.git
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### 📸 Directly use EmbodiedGen All-Simulators-Ready Assets ### 📸 Directly use EmbodiedGen All-Simulators-Ready Assets
Explore EmbodiedGen generated assets in [![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer) that are ready for simulation across any simulators (SAPIEN, Isaac Sim, MuJoCo, PyBullet, Genesis, Isaac Gym etc.). Details in chapter [any-simulators](#any-simulators). [![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer) Explore EmbodiedGen generated assets that are ready for simulation across any simulators (SAPIEN, Isaac Sim, MuJoCo, PyBullet, Genesis, Isaac Gym etc.). Details in chapter [any-simulators](#any-simulators).
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docs/index.md
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# 👋 Welcome to EmbodiedGen # 👋 Welcome to EmbodiedGen
[![🌐 Project Page](https://img.shields.io/badge/🌐-Project_Page-blue)](https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html) [![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/)
[![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600) [![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600)
[![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk) [![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)
<!-- [![🌐 Project Page](https://img.shields.io/badge/🌐-Project_Page-blue)](https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html) -->
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Texture_Gen_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen) [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Texture_Gen_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)
*EmbodiedGen*: Towards a Generative 3D World Engine for Embodied Intelligence. *EmbodiedGen*: Towards a Generative 3D World Engine for Embodied Intelligence.