a3924ae4a8
- Added intelligent quality checkers and auto-retry pipeline for `image-to-3d` and `text-to-3d`. - Added unit tests for quality checkers. - `text-to-3d` now supports more `text-to-image` models, pipeline success rate improved to 94%.
224 lines
9.3 KiB
Markdown
224 lines
9.3 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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[](https://arxiv.org/abs/2506.10600)
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[](https://www.youtube.com/watch?v=rG4odybuJRk)
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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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[](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)
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> ***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.
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> 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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<img src="apps/assets/overall.jpg" alt="Overall Framework" width="700"/>
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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 (Interactive 3D Worlds) Generation](#layout-generation)
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## 🚀 Quick Start
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### ✅ Setup Environment
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```sh
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git clone https://github.com/HorizonRobotics/EmbodiedGen.git
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cd EmbodiedGen
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git checkout v0.1.1
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git submodule update --init --recursive --progress
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conda create -n embodiedgen python=3.10.13 -y
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conda activate embodiedgen
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bash install.sh
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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 alternative with free usage via OpenRouter, apply a free key [here](https://openrouter.ai/settings/keys) and update `api_key` in `embodied_gen/utils/gpt_config.yaml` (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 URDF from single input image, offering high-quality support for digital twin systems.
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<img src="apps/assets/image_to_3d.jpg" alt="Image to 3D" width="900">
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### ☁️ Service
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Run the image-to-3D generation service locally.
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Models downloaded automatically on first run, please be patient.
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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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### ⚡ API
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Generate physically plausible 3D assets from image input via the command-line API.
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```sh
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img3d-cli --image_path apps/assets/example_image/sample_04.jpg apps/assets/example_image/sample_19.jpg \
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--n_retry 2 --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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<img src="apps/assets/text_to_3d.jpg" alt="Text to 3D" width="900">
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### ☁️ Service
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Deploy the text-to-3D generation service locally.
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Text-to-image model based on the Kolors model, supporting Chinese and English prompts.
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Models downloaded automatically on first run, please be patient.
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```sh
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python apps/text_to_3d.py
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```
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### ⚡ API
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Text-to-image model based on SD3.5 Medium, English prompts only.
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Usage requires agreement to the [model license(click accept)](https://huggingface.co/stabilityai/stable-diffusion-3.5-medium), models downloaded automatically. (ps: models with more permissive licenses found in `embodied_gen/models/image_comm_model.py`)
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For large-scale 3D assets generation, set `--n_pipe_retry=2` to ensure high end-to-end 3D asset usability through automatic quality check and retries. For more diverse results, do not set `--seed_img`.
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```sh
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text3d-cli --prompts "small bronze figurine of a lion" "A globe with wooden base" "wooden table with embroidery" \
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--n_image_retry 2 --n_asset_retry 2 --n_pipe_retry 1 --seed_img 0 \
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--output_root outputs/textto3d
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```
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Text-to-image model based on the Kolors model.
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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" "A globe with wooden base and latitude and longitude lines" "橙色电动手钻，有磨损细节" \
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--output_root outputs/textto3d_k
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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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<img src="apps/assets/texture_gen.jpg" alt="Texture Gen" width="900">
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### ☁️ Service
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Run the texture generation service locally.
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Models downloaded automatically on first run, see `download_kolors_weights`, `geo_cond_mv`.
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```sh
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python apps/texture_edit.py
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```
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### ⚡ API
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Support Chinese and English prompts.
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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 "举着牌子的写实风格机器人，大眼睛，牌子上写着“Hello”的文字" \
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--output_root "outputs/texture_gen/robot_text"
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bash embodied_gen/scripts/texture_gen.sh \
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--mesh_path "apps/assets/example_texture/meshes/horse.obj" \
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--prompt "A gray horse head with flying mane and brown eyes" \
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--output_root "outputs/texture_gen/gray_horse"
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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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<img src="apps/assets/scene3d.gif" alt="scene3d" style="width: 640px;">
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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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<img src="apps/assets/articulate.gif" alt="articulate" style="width: 480px;">
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---
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<h2 id="layout-generation">🏞️ Layout(Interactive 3D Worlds) Generation</h2>
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### 💬 Generate Layout from task description
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🚧 *Coming Soon*
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<table>
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<tr>
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<td><img src="apps/assets/layout1.gif" alt="layout1" width="360"/></td>
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<td><img src="apps/assets/layout2.gif" alt="layout2" width="360"/></td>
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</tr>
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<tr>
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<td><img src="apps/assets/layout3.gif" alt="layout3" width="360"/></td>
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<td><img src="apps/assets/layout4.gif" alt="layout4" width="360"/></td>
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</tr>
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</table>
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### 🖼️ Real-to-Sim Digital Twin
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<img src="apps/assets/real2sim_mujoco.gif" alt="real2sim_mujoco" style="width: 512px;">
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---
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## For Developer
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```sh
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pip install .[dev] && pre-commit install
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python -m pytest # Pass all unit-test are required.
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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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@misc{wang2025embodiedgengenerative3dworld,
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title={EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence},
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author={Xinjie Wang and Liu Liu and Yu Cao and Ruiqi Wu and Wenkang Qin and Dehui Wang and Wei Sui and Zhizhong Su},
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year={2025},
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eprint={2506.10600},
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archivePrefix={arXiv},
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primaryClass={cs.RO},
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url={https://arxiv.org/abs/2506.10600},
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}
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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) | 🌟 [Hunyuan-Delight](https://huggingface.co/tencent/Hunyuan3D-2/tree/main/hunyuan3d-delight-v2-0) | 🌟 [Segment Anything](https://github.com/facebookresearch/segment-anything) | 🌟 [Rembg](https://github.com/danielgatis/rembg) | 🌟 [RMBG-1.4](https://huggingface.co/briaai/RMBG-1.4) | 🌟 [Stable Diffusion x4](https://huggingface.co/stabilityai/stable-diffusion-x4-upscaler) | 🌟 [Real-ESRGAN](https://github.com/xinntao/Real-ESRGAN) | 🌟 [Kolors](https://github.com/Kwai-Kolors/Kolors) | 🌟 [ChatGLM3](https://github.com/THUDM/ChatGLM3) | 🌟 [Aesthetic Score](http://captions.christoph-schuhmann.de/aesthetic_viz_laion_sac+logos+ava1-l14-linearMSE-en-2.37B.html) | 🌟 [Pano2Room](https://github.com/TrickyGo/Pano2Room) | 🌟 [Diffusion360](https://github.com/ArcherFMY/SD-T2I-360PanoImage) | 🌟 [Kaolin](https://github.com/NVIDIAGameWorks/kaolin) | 🌟 [diffusers](https://github.com/huggingface/diffusers) | 🌟 [gsplat](https://github.com/nerfstudio-project/gsplat) | 🌟 [QWEN-2.5VL](https://github.com/QwenLM/Qwen2.5-VL) | 🌟 [GPT4o](https://platform.openai.com/docs/models/gpt-4o) | 🌟 [SD3.5](https://huggingface.co/stabilityai/stable-diffusion-3.5-medium)
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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.
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