178 lines
5.8 KiB
Markdown
178 lines
5.8 KiB
Markdown
# EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence
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[](https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html)
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[](#)
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[](https://www.youtube.com/watch?v=SnHhzHeb_aI)
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D)
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D)
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen)
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<img src="apps/assets/overall.jpg" alt="Overall Framework" width="700"/>
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**EmbodiedGen** generates interactive 3D worlds with real-world scale and physical realism at low cost.
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---
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## ✨ Table of Contents of EmbodiedGen
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- [🖼️ Image-to-3D](#image-to-3d)
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- [📝 Text-to-3D](#text-to-3d)
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- [🎨 Texture Generation](#texture-generation)
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- [🌍 3D Scene Generation](#3d-scene-generation)
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- [⚙️ Articulated Object Generation](#articulated-object-generation)
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- [🏞️ Layout Generation](#layout-generation)
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## 🚀 Quick Start
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```sh
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git clone https://github.com/HorizonRobotics/EmbodiedGen
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cd EmbodiedGen
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conda create -n embodiedgen python=3.10.13 -y
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conda activate embodiedgen
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pip install -r requirements.txt --use-deprecated=legacy-resolver
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pip install -e .
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```
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---
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## 🟢 Setup GPT Agent
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Update the API key in file: `embodied_gen/utils/gpt_config.yaml`.
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You can choose between two backends for the GPT agent:
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- **`gpt-4o`** (Recommended) – Use this if you have access to **Azure OpenAI**.
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- **`qwen2.5-vl`** – An open alternative with free usage via [OpenRouter](https://openrouter.ai/settings/keys) (50 free requests per day)
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---
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<h2 id="image-to-3d">🖼️ Image-to-3D</h2>
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D) Generate physically plausible 3D asset from input image.
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### Local Service
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Run the image-to-3D generation service locally. The first run will download required models.
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```sh
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# Run in foreground
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python apps/image_to_3d.py
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# Or run in the background
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CUDA_VISIBLE_DEVICES=0 nohup python apps/image_to_3d.py > /dev/null 2>&1 &
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```
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### Local API
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Generate a 3D model from an image using the command-line API.
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```sh
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python3 embodied_gen/scripts/imageto3d.py \
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--image_path apps/assets/example_image/sample_04.jpg apps/assets/example_image/sample_19.jpg \
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--output_root outputs/imageto3d/
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# See result(.urdf/mesh.obj/mesh.glb/gs.ply) in ${output_root}/sample_xx/result
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```
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---
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<h2 id="text-to-3d">📝 Text-to-3D</h2>
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D) Create 3D assets from text descriptions for a wide range of geometry and styles.
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### Local Service
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Run the text-to-3D generation service locally.
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```sh
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python apps/text_to_3d.py
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```
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### Local API
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```sh
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bash embodied_gen/scripts/textto3d.sh \
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--prompts "small bronze figurine of a lion" "带木质底座，具有经纬线的地球仪" "橙色电动手钻，有磨损细节" \
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--output_root outputs/textto3d/
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```
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---
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<h2 id="texture-generation">🎨 Texture Generation</h2>
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[](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen) Generate visually rich textures for 3D mesh.
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### Local Service
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Run the texture generation service locally.
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```sh
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python apps/texture_edit.py
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```
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### Local API
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Generate textures for a 3D mesh using a text prompt.
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```sh
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bash embodied_gen/scripts/texture_gen.sh \
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--mesh_path "apps/assets/example_texture/meshes/robot_text.obj" \
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--prompt "举着牌子的红色写实风格机器人，牌子上写着“Hello”" \
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--output_root "outputs/texture_gen/" \
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--uuid "robot_text"
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```
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---
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<h2 id="3d-scene-generation">🌍 3D Scene Generation</h2>
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🚧 *Coming Soon*
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---
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<h2 id="articulated-object-generation">⚙️ Articulated Object Generation</h2>
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🚧 *Coming Soon*
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---
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<h2 id="layout-generation">🏞️ Layout Generation</h2>
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🚧 *Coming Soon*
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---
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## 📚 Citation
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If you use EmbodiedGen in your research or projects, please cite:
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```bibtex
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Coming Soon
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```
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---
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## 🙌 Acknowledgement
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EmbodiedGen builds upon the following amazing projects and models:
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- 🌟 [Trellis](https://github.com/microsoft/TRELLIS)
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- 🌟 [Hunyuan-Delight](https://huggingface.co/tencent/Hunyuan3D-2/tree/main/hunyuan3d-delight-v2-0)
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- 🌟 [Segment Anything Model](https://github.com/facebookresearch/segment-anything)
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- 🌟 [Rembg: a tool to remove images background](https://github.com/danielgatis/rembg)
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- 🌟 [RMBG-1.4: BRIA Background Removal](https://huggingface.co/briaai/RMBG-1.4)
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- 🌟 [stable-diffusion-x4-upscaler](https://huggingface.co/stabilityai/stable-diffusion-x4-upscaler)
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- 🌟 [Real-ESRGAN](https://github.com/xinntao/Real-ESRGAN)
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- 🌟 [Kolors](https://github.com/Kwai-Kolors/Kolors)
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- 🌟 [ChatGLM3](https://github.com/THUDM/ChatGLM3)
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- 🌟 [Aesthetic Score Model](http://captions.christoph-schuhmann.de/aesthetic_viz_laion_sac+logos+ava1-l14-linearMSE-en-2.37B.html)
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- 🌟 [Pano2Room](https://github.com/TrickyGo/Pano2Room)
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- 🌟 [Diffusion360](https://github.com/ArcherFMY/SD-T2I-360PanoImage)
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- 🌟 [kaolin](https://github.com/NVIDIAGameWorks/kaolin)
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- 🌟 [diffusers](https://github.com/huggingface/diffusers)
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- 🌟 GPT: QWEN2.5VL, GPT4o
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---
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## ⚖️ License
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This project is licensed under the [Apache License 2.0](LICENSE). See the `LICENSE` file for details. |