184 lines
7.2 KiB
Markdown
184 lines
7.2 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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**EmbodiedGen** is a toolkit to generate diverse and interactive 3D worlds composed of generative 3D assets with plausible physics, leveraging generative AI to address the challenges of generalization in embodied intelligence related research. EmbodiedGen 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 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 v0.1.0
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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 from input image.
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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. 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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### API
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Generate a 3D model from an image using the command-line API.
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Models will be downloaded automatically, please wait for the first run.
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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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<img src="apps/assets/text_to_3d.jpg" alt="Text to 3D" width="900">
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### 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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### API
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Models will be downloaded automatically, see `download_kolors_weights`.
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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/
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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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```sh
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python apps/texture_edit.py
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```
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### API
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Models will be downloaded automatically, see `download_kolors_weights`, `geo_cond_mv`.
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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/" \
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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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<img src="apps/assets/scene3d.gif" alt="scene3d" style="width: 650px;">
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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: 550px;">
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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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@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) | 🌟 [QWEN2.5VL](https://github.com/QwenLM/Qwen2.5-VL) | 🌟 [GPT4o](https://platform.openai.com/docs/models/gpt-4o)
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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. |