diff --git a/.gitignore b/.gitignore
index 556bf65..5b54d9f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -57,6 +57,7 @@ node_modules
/public/
# local files
+.DS_Store
build.sh
__pycache__/
output*
@@ -64,12 +65,11 @@ output*
scripts/tools/
weights
apps/sessions/
-apps/assets/
+apps/gradio_cache/
.gradio/*
CLAUDE.md
AGENTS.md
.github/copilot-instructions.md
-apps/gradio_cache/
# Larger than 1MB
docs/documentation/assets/real2sim_mujoco.gif
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 7810ce8..c7d60bf 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -8,7 +8,7 @@ repos:
description: Prevent giant files from being committed
entry: check-added-large-files
language: python
- exclude: ^docs/
+ exclude: ^(docs/|apps/assets/)
args: ["--maxkb=1024"]
- repo: local
hooks:
diff --git a/README.md b/README.md
index e6926de..7c2798d 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,8 @@
[](https://horizonrobotics.github.io/EmbodiedGen/)
[](https://horizonrobotics.github.io/EmbodiedGen/docs/)
[](https://github.com/HorizonRobotics/EmbodiedGen)
-[](https://arxiv.org/abs/2506.10600)
+[](https://arxiv.org/abs/2506.10600)
+[](https://arxiv.org/abs/2607.07459)
[](https://youtu.be/MIkJJSVM8L4)
[](https://huggingface.co/datasets/HorizonRobotics/EmbodiedGenData)
@@ -27,7 +28,7 @@
- 𧩠**Pluggable 3D backends** β switch between **SAM3D**, **TRELLIS**, and the **Hunyuan3D Pro** cloud API with a single flag.
- π§₯ **Beyond rigid bodies** β text-conditioned garments deploy as deformable meshes in Genesis.
- π¦Ύ **Part-level affordance** β functional part segmentation, per-part semantics, and simulation-validated 6-DoF grasp poses for any generated asset.
-- π€ **Closed-loop robot learning** β policies trained purely in EmbodiedGen-generated worlds transfer to real robots (task success **9.7 β 79.8%** in sim, **21.7 β 75.0%** on real robots, from a companion [sim-to-real RL study](https://arxiv.org/abs/2603.18532)).
+- π€ **Closed-loop robot learning** β policies trained purely in EmbodiedGen-generated worlds transfer to real robots (task success **9.7 β 79.8%** in sim, **21.7 β 75.0%** on real robots, from [sim2real RL paper](https://arxiv.org/abs/2603.18532)).
## π Table of Contents
@@ -49,7 +50,6 @@
git clone https://github.com/HorizonRobotics/EmbodiedGen.git
cd EmbodiedGen
git checkout v2.0.0
-bash install/init_submodules.sh
conda create -n embodiedgen python=3.10.13 -y
conda activate embodiedgen
# bash install.sh cu126 && conda deactivate && conda activate embodiedgen # Optional: if you don't have local cuda126.
@@ -80,7 +80,7 @@ Turn a **single image** or a **text prompt** into a simulation-ready asset: metr
# Image β 3D (backends: SAM3D | TRELLIS | HUNYUAN3D, via --image3d_model)
img3d-cli --image_path apps/assets/example_image/sample_01.jpg --output_root outputs/imageto3d
-# Text β 3D
+# Text β 3D (backends: SAM3D | TRELLIS | HUNYUAN3D, via --image3d_model)
text3d-cli --prompts "small bronze figurine of a lion" --output_root outputs/textto3d
# Re-texture an existing mesh (Chinese & English prompts)
@@ -133,7 +133,7 @@ From a natural-language task description, EmbodiedGen parses a **scene graph** a
```sh
-layout-cli --task_descs "Place the pen in the mug on the desk" \
+layout-cli --task_descs "Put the cup on the wooden tray on the desk" \
--bg_list "outputs/example_gen_scenes/scene_part_list.txt" \
--output_root "outputs/layouts_gen" --insert_robot
@@ -244,15 +244,15 @@ python -m pytest # Pass all unit-test are required.
If you use EmbodiedGen in your research or projects, please cite:
-
```bibtex
-@article{wang2026embodiedgenv2,
- title = {EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI},
- author = {Xinjie Wang and Liu Liu and Taojun Ding and Andrew Choi and Chaodong Huang and
- Mengao Zhao and Ziang Li and Jackson Jiang and Chunlei Yu and Shengxiang Liu and
- Wei Xu and Zhizhong Su},
- journal = {arXiv preprint arXiv:2506.10600},
- year = {2026}
+@misc{wang2026embodiedgenv2agenticsimulationready,
+ title={EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI},
+ author={Xinjie Wang and Liu Liu and Taojun Ding and Andrew Choi and Chaodong Huang and Mengao Zhao and Ziang Li and Jackson Jiang and Chunlei Yu and Shengxiang Liu and Wei Xu and Zhizhong Su},
+ year={2026},
+ eprint={2607.07459},
+ archivePrefix={arXiv},
+ primaryClass={cs.RO},
+ url={https://arxiv.org/abs/2607.07459},
}
```
```bibtex
diff --git a/apps/assets/example_affordance/ear_hear/mesh/material.mtl b/apps/assets/example_affordance/ear_hear/mesh/material.mtl
new file mode 100644
index 0000000..bf525af
--- /dev/null
+++ b/apps/assets/example_affordance/ear_hear/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/apps/assets/example_affordance/ear_hear/mesh/material_0.png b/apps/assets/example_affordance/ear_hear/mesh/material_0.png
new file mode 100644
index 0000000..3c9cec1
Binary files /dev/null and b/apps/assets/example_affordance/ear_hear/mesh/material_0.png differ
diff --git a/apps/assets/example_affordance/ear_hear/mesh/sample.obj b/apps/assets/example_affordance/ear_hear/mesh/sample.obj
new file mode 100644
index 0000000..645d29d
--- /dev/null
+++ b/apps/assets/example_affordance/ear_hear/mesh/sample.obj
@@ -0,0 +1,44182 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/apps/assets/example_affordance/ear_hear/mesh/sample_collision.obj b/apps/assets/example_affordance/ear_hear/mesh/sample_collision.obj
new file mode 100644
index 0000000..6e5d841
--- /dev/null
+++ b/apps/assets/example_affordance/ear_hear/mesh/sample_collision.obj
@@ -0,0 +1,17035 @@
+# https://github.com/mikedh/trimesh
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diff --git a/apps/assets/example_affordance/ear_hear/sample.urdf b/apps/assets/example_affordance/ear_hear/sample.urdf
new file mode 100644
index 0000000..4f998b3
--- /dev/null
+++ b/apps/assets/example_affordance/ear_hear/sample.urdf
@@ -0,0 +1,27 @@
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diff --git a/apps/assets/example_texture/meshes/globe.obj b/apps/assets/example_texture/meshes/globe.obj
new file mode 100644
index 0000000..ef70c4a
--- /dev/null
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+f 727 742 743
+f 720 735 736
+f 729 728 743
+f 721 736 737
+f 730 729 744
+f 722 737 738
+f 731 730 745
+f 723 738 739
+f 736 735 750
+f 744 743 758
+f 737 736 751
+f 744 759 760
+f 738 737 752
+f 745 760 761
+f 738 753 754
+f 747 746 761
+f 739 754 755
+f 748 747 762
+f 741 740 755
+f 741 756 757
+f 734 749 750
+f 742 757 758
+f 755 754 769
+f 762 777 778
+f 755 770 771
+f 757 756 771
+f 749 764 765
+f 757 772 773
+f 750 765 766
+f 758 773 774
+f 751 766 767
+f 760 759 774
+f 752 767 768
+f 760 775 776
+f 754 753 768
+f 761 776 777
+f 774 773 788
+f 767 766 781
+f 775 774 789
+f 767 782 783
+f 775 790 791
+f 768 783 784
+f 777 776 791
+f 769 784 785
+f 777 792 793
+f 771 770 785
+f 771 786 787
+f 764 779 780
+f 773 772 787
+f 765 780 781
+f 792 807 808
+f 786 785 800
+f 786 801 802
+f 779 794 795
+f 787 802 803
+f 781 780 795
+f 789 788 803
+f 782 781 796
+f 790 789 804
+f 782 797 798
+f 790 805 806
+f 783 798 799
+f 791 806 807
+f 785 784 799
+f 797 796 811
+f 804 819 820
+f 797 812 813
+f 805 820 821
+f 798 813 814
+f 806 821 822
+f 800 799 814
+f 807 822 823
+f 801 800 815
+f 801 816 817
+f 795 794 809
+f 802 817 818
+f 795 810 811
+f 804 803 818
+f 815 830 831
+f 817 816 831
+f 810 809 824
+f 817 832 833
+f 810 825 826
+f 819 818 833
+f 812 811 826
+f 819 834 835
+f 812 827 828
+f 820 835 836
+f 813 828 829
+f 822 821 836
+f 815 814 829
+f 822 837 838
+f 834 849 850
+f 828 827 842
+f 836 835 850
+f 828 843 844
+f 837 836 851
+f 830 829 844
+f 837 852 853
+f 830 845 846
+f 832 831 846
+f 824 839 840
+f 832 847 848
+f 826 825 840
+f 834 833 848
+f 827 826 841
+f 846 384 385
+f 840 839 377
+f 847 385 854
+f 841 840 378
+f 849 848 854
+f 842 841 379
+f 849 855 856
+f 843 842 380
+f 850 856 386
+f 844 843 381
+f 851 386 857
+f 845 844 382
+f 852 857 858
+f 846 845 383
diff --git a/apps/image_to_3d.py b/apps/image_to_3d.py
index bdd5bbe..b5f3d0c 100644
--- a/apps/image_to_3d.py
+++ b/apps/image_to_3d.py
@@ -77,7 +77,7 @@ def preprocess_example_image(
-
+
diff --git a/apps/text_to_3d.py b/apps/text_to_3d.py
index e7c15fc..c8cd731 100644
--- a/apps/text_to_3d.py
+++ b/apps/text_to_3d.py
@@ -57,7 +57,7 @@
-
+
diff --git a/apps/texture_edit.py b/apps/texture_edit.py
index 72bfa35..82b7d50 100644
--- a/apps/texture_edit.py
+++ b/apps/texture_edit.py
@@ -58,7 +58,7 @@ def active_btn_by_content(mesh_content: gr.Model3D, text_content: gr.Textbox):
-
+
diff --git a/apps/visualize_asset.py b/apps/visualize_asset.py
index 2f87852..a71c0d9 100644
--- a/apps/visualize_asset.py
+++ b/apps/visualize_asset.py
@@ -818,7 +818,7 @@ def end_session(req: gr.Request) -> None:
-
+
diff --git a/docs/documentation/acknowledgement.md b/docs/documentation/acknowledgement.md
index ec5a399..38c4577 100644
--- a/docs/documentation/acknowledgement.md
+++ b/docs/documentation/acknowledgement.md
@@ -9,13 +9,15 @@ EmbodiedGen builds upon the following amazing projects and models:
If you use EmbodiedGen in your research or projects, please cite:
-
```bibtex
-@article{wang2026embodiedgenv2,
+@misc{wang2026embodiedgenv2agenticsimulationready,
title={EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI},
author={Xinjie Wang and Liu Liu and Taojun Ding and Andrew Choi and Chaodong Huang and Mengao Zhao and Ziang Li and Jackson Jiang and Chunlei Yu and Shengxiang Liu and Wei Xu and Zhizhong Su},
- journal={arXiv preprint arXiv:2506.10600},
year={2026},
+ eprint={2607.07459},
+ archivePrefix={arXiv},
+ primaryClass={cs.RO},
+ url={https://arxiv.org/abs/2607.07459},
}
```
diff --git a/docs/documentation/index.md b/docs/documentation/index.md
index 7ca2327..e0f6b8b 100644
--- a/docs/documentation/index.md
+++ b/docs/documentation/index.md
@@ -7,7 +7,7 @@ hide:
[](https://horizonrobotics.github.io/EmbodiedGen/)
[](https://github.com/HorizonRobotics/EmbodiedGen)
-[](https://arxiv.org/abs/2506.10600)
+[](https://arxiv.org/abs/2607.07459)
[](https://huggingface.co/datasets/HorizonRobotics/EmbodiedGenData)
[](https://youtu.be/MIkJJSVM8L4)
diff --git a/docs/documentation/install.md b/docs/documentation/install.md
index c0100f5..dbec7b5 100644
--- a/docs/documentation/install.md
+++ b/docs/documentation/install.md
@@ -8,7 +8,6 @@ hide:
git clone https://github.com/HorizonRobotics/EmbodiedGen.git
cd EmbodiedGen
git checkout v2.0.0
-bash install/init_submodules.sh
conda create -n embodiedgen python=3.10.13 -y # recommended to use a new env.
conda activate embodiedgen
# bash install.sh cu126 && conda deactivate && conda activate embodiedgen # Optional: if you don't have local cuda126.
diff --git a/docs/documentation/tutorials/image_to_3d.md b/docs/documentation/tutorials/image_to_3d.md
index cd4329b..4e73aae 100644
--- a/docs/documentation/tutorials/image_to_3d.md
+++ b/docs/documentation/tutorials/image_to_3d.md
@@ -21,7 +21,7 @@ apps/assets/example_image/sample_01.jpg \
### Using the Hunyuan3D Cloud Backend
-Hunyuan3D Pro runs entirely on Tencent Cloud β useful when you don't have a local GPU. It requires Tencent Cloud Hunyuan3D `SecretId` / `SecretKey` and network access to `ai3d.tencentcloudapi.com` and the COS download host.
+Hunyuan3D Pro runs entirely on Tencent Cloud. It requires Tencent Cloud Hunyuan3D `SecretId` / `SecretKey` and network access to `ai3d.tencentcloudapi.com` and the COS download host. Manage/create your keys via the [Tencent Cloud API Key console](https://cloud.tencent.com/document/product/598/40488).
```bash
export TENCENT_SECRET_ID='your-secret-id'
diff --git a/docs/documentation/tutorials/text_to_3d.md b/docs/documentation/tutorials/text_to_3d.md
index db1530c..821fab3 100644
--- a/docs/documentation/tutorials/text_to_3d.md
+++ b/docs/documentation/tutorials/text_to_3d.md
@@ -90,7 +90,7 @@ Three 3D generation backends are supported via `--image3d_model` (case-insensiti
### Using the Hunyuan3D Cloud Backend
-Hunyuan3D Pro takes the prompt directly to a 3D mesh (no GPU model loaded locally; one job β 3 minutes; Tencent Cloud is billed per submit). Set up credentials once:
+Hunyuan3D Pro takes the prompt directly to a 3D mesh (One job β 3 minutes; Tencent Cloud is billed per submit). Set up credentials once (manage/create keys via the [Tencent Cloud API Key console](https://cloud.tencent.com/document/product/598/40488)):
```bash
export TENCENT_SECRET_ID='your-secret-id'
diff --git a/embodied_gen/scripts/affordance_annot/gen_grasp.py b/embodied_gen/scripts/affordance_annot/gen_grasp.py
index 1a0675b..63a8bb2 100644
--- a/embodied_gen/scripts/affordance_annot/gen_grasp.py
+++ b/embodied_gen/scripts/affordance_annot/gen_grasp.py
@@ -28,6 +28,7 @@
import trimesh
import trimesh.transformations as tra
import tyro
+import yaml
sys.path.append(".")
from embodied_gen.utils.geometry import (
@@ -169,50 +170,127 @@ def load_model(self):
"model_cfg": load_model_cfg,
}
+ @staticmethod
+ def _extract_checkpoint_filenames(yml_path: str) -> list[str]:
+ """Recursively collect all `checkpoint: .pth` entries.
+
+ Walks a GraspGen config yaml so we know every weight file it
+ requires.
+ """
+ with open(yml_path) as f:
+ cfg = yaml.safe_load(f)
+
+ names: set[str] = set()
+
+ def _walk(node) -> None:
+ if isinstance(node, dict):
+ for key, value in node.items():
+ if (
+ key == "checkpoint"
+ and isinstance(value, str)
+ and value.strip()
+ ):
+ names.add(value.strip())
+ else:
+ _walk(value)
+ elif isinstance(node, list):
+ for item in node:
+ _walk(item)
+
+ _walk(cfg)
+ return sorted(names)
+
+ @staticmethod
+ def _dir_has_pth(directory: str, filename: str | None) -> bool:
+ if filename:
+ return os.path.exists(os.path.join(directory, filename))
+ return os.path.isdir(directory) and any(
+ f.endswith(".pth") for f in os.listdir(directory)
+ )
+
+ def _ensure_checkpoints(
+ self,
+ is_ready: callable,
+ repo_id: str,
+ allow_patterns: str,
+ download_dir: str,
+ desc: str,
+ ) -> None:
+ """Download `desc` weights from `repo_id` unless already ready.
+
+ Re-checks afterwards so a stale/partial local cache (e.g. config
+ present but a referenced .pth missing) is retried instead of
+ silently failing deep inside third-party code.
+ """
+ if is_ready():
+ return
+
+ logger.info(
+ f"Downloading {desc} weights from Hugging Face. "
+ "First-time use may take several minutes; please wait patiently."
+ )
+ from huggingface_hub import snapshot_download
+
+ snapshot_download(
+ repo_id=repo_id,
+ allow_patterns=allow_patterns,
+ local_dir=os.path.expanduser(download_dir),
+ )
+
+ if not is_ready():
+ raise FileNotFoundError(
+ f"{desc} checkpoint(s) still missing after downloading from "
+ f"Hugging Face repo '{repo_id}'. The local cache may be from "
+ "a previous partial download; please remove it and retry, "
+ "or download manually."
+ )
+
def build_sampler(self):
if self.cfg.model_name == "graspgen":
gripper_config = os.path.expanduser(
self.cfg.graspgen.gripper_config
)
-
- if not os.path.exists(gripper_config):
- logger.info(
- "Downloading GraspGen weights from Hugging Face. "
- "First-time use may take several minutes; please wait patiently."
- )
- from huggingface_hub import snapshot_download
-
- download_dir = os.path.expanduser(
- "~/.cache/huggingface/hub/GraspGenModels"
- )
- snapshot_download(
- repo_id="adithyamurali/GraspGenModels",
- allow_patterns="checkpoints/*",
- local_dir=download_dir,
+ checkpoints_dir = os.path.dirname(gripper_config)
+
+ def _graspgen_ready() -> bool:
+ if not os.path.exists(gripper_config):
+ return False
+ required = self._extract_checkpoint_filenames(gripper_config)
+ return all(
+ os.path.exists(os.path.join(checkpoints_dir, name))
+ for name in required
)
+ self._ensure_checkpoints(
+ _graspgen_ready,
+ "adithyamurali/GraspGenModels",
+ "checkpoints/*",
+ "~/.cache/huggingface/hub/GraspGenModels",
+ "GraspGen",
+ )
grasp_cfg = self.modules["model_cfg"](gripper_config)
return self.modules["GraspGenSampler"](grasp_cfg)
if self.cfg.model_name == "graspgenx":
checkpoint_root = os.path.expanduser(
self.cfg.graspgen.checkpoint_root
)
- config_path = os.path.join(checkpoint_root, "gen", "config.yaml")
- if not os.path.exists(config_path):
- logger.info(
- "Downloading GraspGenX weights from Hugging Face. "
- "First-time use may take several minutes; please wait patiently."
+ gen_dir = os.path.join(checkpoint_root, "gen")
+ dis_dir = os.path.join(checkpoint_root, "dis")
+
+ def _graspgenx_ready() -> bool:
+ return (
+ os.path.exists(os.path.join(gen_dir, "config.yaml"))
+ and self._dir_has_pth(gen_dir, self.cfg.graspgen.gen_pth)
+ and self._dir_has_pth(dis_dir, self.cfg.graspgen.dis_pth)
)
- from huggingface_hub import snapshot_download
- download_dir = os.path.expanduser(
- "~/.cache/huggingface/hub/GraspGenXModels"
- )
- snapshot_download(
- repo_id="adithyamurali/GraspGenXModel",
- allow_patterns="release/*",
- local_dir=download_dir,
- )
+ self._ensure_checkpoints(
+ _graspgenx_ready,
+ "adithyamurali/GraspGenXModel",
+ "release/*",
+ "~/.cache/huggingface/hub/GraspGenXModels",
+ "GraspGenX",
+ )
model_cfg = self.modules["model_cfg"](
os.path.join(checkpoint_root, "gen"),
os.path.join(checkpoint_root, "dis"),
diff --git a/embodied_gen/scripts/textto3d.py b/embodied_gen/scripts/textto3d.py
index 140eca2..b91d5d0 100644
--- a/embodied_gen/scripts/textto3d.py
+++ b/embodied_gen/scripts/textto3d.py
@@ -276,6 +276,21 @@ def text_to_3d(**kwargs) -> dict:
no_index_file=True,
)
image_path = combine_images_to_grid(image_path)
+ if not image_path:
+ logger.error(
+ f"Node {node}: 3D asset generation produced no mesh, "
+ f"skip QA and retry round."
+ )
+ results["assets"][node] = f"asset3d/{save_node}/result"
+ results["quality"][node] = "NO: mesh generation failed."
+ n_pipe_retry -= 1
+ seed_img = (
+ random.randint(0, 100000) if seed_img is not None else None
+ )
+ seed_3d = (
+ random.randint(0, 100000) if seed_3d is not None else None
+ )
+ continue
check_text = asset_type if asset_type is not None else prompt
qa_flag, qa_result = TXTGEN_CHECKER(check_text, image_path)
logger.warning(
diff --git a/embodied_gen/skills/room-creator/SKILL.md b/embodied_gen/skills/room-creator/SKILL.md
index 286aaa4..4406050 100644
--- a/embodied_gen/skills/room-creator/SKILL.md
+++ b/embodied_gen/skills/room-creator/SKILL.md
@@ -5,7 +5,7 @@ description: Generate indoor rooms (single room or house) and export URDF/USD by
# Room Creator
-Generate room scenes with `python -m embodied_gen.scripts.room_gen.gen_room` from infinigen(https://github.com/princeton-vl/infinigen) and optionally export URDF/USD.
+Generate room scenes with `room-cli -m embodied_gen.scripts.room_gen.gen_room` from infinigen(https://github.com/princeton-vl/infinigen) and optionally export URDF/USD. `room-cli` forwards its arguments to the bundled Blender Python (has `bpy` and room deps installed by `bash install.sh room`); running `python -m embodied_gen.scripts.room_gen.gen_room` from the `embodiedgen` env works too since heavy stages dispatch to Blender Python internally either way.
## Use This Workflow
@@ -39,7 +39,7 @@ Generate room scenes with `python -m embodied_gen.scripts.room_gen.gen_room` fro
```bash
# Full pipeline for one kitchen
-python -m embodied_gen.scripts.room_gen.gen_room \
+room-cli -m embodied_gen.scripts.room_gen.gen_room \
--output-root outputs/rooms \
--room-type Kitchen \
--seed 42 \
@@ -48,7 +48,7 @@ python -m embodied_gen.scripts.room_gen.gen_room \
```bash
# Generation only (no export)
-python -m embodied_gen.scripts.room_gen.gen_room \
+room-cli -m embodied_gen.scripts.room_gen.gen_room \
--output-root outputs/rooms \
--room-type LivingRoom \
--seed 100 \
@@ -58,7 +58,7 @@ python -m embodied_gen.scripts.room_gen.gen_room \
```bash
# Export only from existing blender result
-python -m embodied_gen.scripts.room_gen.gen_room \
+room-cli -m embodied_gen.scripts.room_gen.gen_room \
--output-root outputs/rooms \
--room-type Kitchen \
--seed 42 \
@@ -67,7 +67,7 @@ python -m embodied_gen.scripts.room_gen.gen_room \
```bash
# House generation (use --large-scene for more rooms)
-python -m embodied_gen.scripts.room_gen.gen_room \
+room-cli -m embodied_gen.scripts.room_gen.gen_room \
--output-root outputs/rooms \
--room-type House \
--seed 7 \
@@ -78,7 +78,7 @@ python -m embodied_gen.scripts.room_gen.gen_room \
## Runtime Requirements
- Run from repo root so relative paths resolve.
-- Ensure Blender Python exists at `$BLENDER_PYTHON`. If not set, the command will try:
+- `room-cli` resolves Blender Python from `$BLENDER_PYTHON_BIN` if set, else falls back to
`thirdparty/infinigen/blender/4.2/python/bin/python3.11` (must exist on disk).
- `--no-gen` requires existing blender output at:
`/_seed/blender`.
diff --git a/embodied_gen/utils/monkey_patch/pano2room.py b/embodied_gen/utils/monkey_patch/pano2room.py
index 9cbec26..ee160a2 100644
--- a/embodied_gen/utils/monkey_patch/pano2room.py
+++ b/embodied_gen/utils/monkey_patch/pano2room.py
@@ -104,13 +104,30 @@ def patched_panojoint_init(self, save_path=None):
# disable get_has_ddp_rank print in `BaseInpaintingTrainingModule`
os.environ["NODE_RANK"] = "0"
- from thirdparty.pano2room.modules.inpainters.lama.saicinpainting.training.trainers import (
- load_checkpoint,
+ from thirdparty.pano2room.modules.inpainters.lama.saicinpainting.training import (
+ trainers as lama_trainers,
)
from thirdparty.pano2room.modules.inpainters.lama_inpainter import (
LamaInpainter,
)
+ def patched_lama_load_checkpoint(
+ train_config, path, map_location='cuda', strict=True
+ ):
+ """Load LaMa checkpoints with PyTorch 2.6+ compatible pickle behavior."""
+ model = lama_trainers.make_training_model(train_config)
+ try:
+ state = torch.load(
+ path, map_location=map_location, weights_only=False
+ )
+ except TypeError:
+ state = torch.load(path, map_location=map_location)
+ model.load_state_dict(state['state_dict'], strict=strict)
+ model.on_load_checkpoint(state)
+ return model
+
+ lama_trainers.load_checkpoint = patched_lama_load_checkpoint
+
def patched_lama_inpaint_init(self):
"""Initialize LamaInpainter by downloading and setting up Big-Lama model."""
zip_path = hf_hub_download(
@@ -133,7 +150,7 @@ def patched_lama_inpaint_init(self):
train_config.training_model.predict_only = True
train_config.visualizer.kind = 'noop'
- self.model = load_checkpoint(
+ self.model = lama_trainers.load_checkpoint(
train_config, checkpoint_path, strict=False, map_location='cpu'
)
self.model.freeze()
diff --git a/embodied_gen/utils/process_media.py b/embodied_gen/utils/process_media.py
index d4bf011..aae3044 100644
--- a/embodied_gen/utils/process_media.py
+++ b/embodied_gen/utils/process_media.py
@@ -281,6 +281,8 @@ def combine_images_to_grid(
```
"""
n_images = len(images)
+ if n_images == 0:
+ return []
if n_images == 1:
return images
diff --git a/install.sh b/install.sh
index 9011b7e..8a7e9bc 100644
--- a/install.sh
+++ b/install.sh
@@ -6,10 +6,25 @@ STAGE=${STAGE:-basic}
REPO_ROOT=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
source "$REPO_ROOT/install/_utils.sh"
-git config --global http.postBuffer 524288000
+cd "$REPO_ROOT"
+
+case "$STAGE" in
+ basic|scene3d|room|affordance|cu126|all) ;;
+ *)
+ log_error "Unknown installation stage: $STAGE"
+ log_error "Usage: bash install.sh [basic|scene3d|room|affordance|cu126|all]"
+ exit 1
+ ;;
+esac
+
+git config http.postBuffer 524288000
log_info "===== Starting installation stage: $STAGE ====="
+if [[ "$STAGE" != "cu126" ]]; then
+ bash "$REPO_ROOT/install/init_submodules.sh" "$STAGE"
+fi
+
if [[ "$STAGE" == "basic" || "$STAGE" == "all" ]]; then
bash "$REPO_ROOT/install/install_basic.sh"
fi
@@ -17,7 +32,7 @@ fi
if [[ "$STAGE" == "scene3d" || "$STAGE" == "all" ]]; then
PANO2ROOM_PATH="$REPO_ROOT/thirdparty/pano2room"
if [ -d "$PANO2ROOM_PATH" ]; then
- echo "__pycache__/" > "$PANO2ROOM_PATH/.gitignore"
+ printf "__pycache__/\n.gitignore\n" > "$PANO2ROOM_PATH/.gitignore"
log_info "Added .gitignore to ignore __pycache__ in $PANO2ROOM_PATH"
fi
bash "$REPO_ROOT/install/install_scene3d.sh"
@@ -36,5 +51,12 @@ if [[ "$STAGE" == "cu126" ]]; then
fi
# Global constraints for all stages
-pip install numpy==1.26.4
+python -m pip install numpy==1.26.4
+
+if [[ "$STAGE" != "cu126" ]]; then
+ try_install "Refreshing EmbodiedGen editable install..." \
+ "python -m pip install -e ." \
+ "EmbodiedGen editable installation refresh failed."
+fi
+
log_info "===== Installation completed successfully. ====="
diff --git a/install/init_submodules.sh b/install/init_submodules.sh
index 00fe5ce..930ecda 100644
--- a/install/init_submodules.sh
+++ b/install/init_submodules.sh
@@ -2,24 +2,110 @@
set -e
REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+STAGE="${1:-all}"
+
+usage() {
+ echo "Usage: bash install/init_submodules.sh [basic|scene3d|room|affordance|cu126|all]"
+}
+
+case "$STAGE" in
+ basic|scene3d|room|affordance|cu126|all) ;;
+ *)
+ usage >&2
+ exit 1
+ ;;
+esac
+
+submodules_for_stage() {
+ case "$1" in
+ basic)
+ printf '%s\n' \
+ "thirdparty/TRELLIS" \
+ "thirdparty/sam3d"
+ ;;
+ scene3d)
+ printf '%s\n' "thirdparty/pano2room"
+ ;;
+ room)
+ printf '%s\n' "thirdparty/infinigen"
+ ;;
+ affordance)
+ printf '%s\n' \
+ "thirdparty/GraspGen" \
+ "thirdparty/Hunyuan3D-Part"
+ ;;
+ all)
+ git -C "$REPO_ROOT" config -f .gitmodules --get-regexp '^submodule\..*\.path$' | awk '{ print $2 }'
+ ;;
+ cu126)
+ ;;
+ esac
+}
+
+mapfile -t REQUESTED_SUBMODULES < <(submodules_for_stage "$STAGE")
echo "Repo root: $REPO_ROOT"
+echo "Stage: $STAGE"
+
+if [[ "${#REQUESTED_SUBMODULES[@]}" -eq 0 ]]; then
+ echo "No submodules required for this stage."
+ exit 0
+fi
echo "Initializing submodules..."
HUNYUAN_PART_PATH="thirdparty/Hunyuan3D-Part"
+submodule_known_to_git() {
+ git -C "$REPO_ROOT" ls-files --error-unmatch "$1" >/dev/null 2>&1
+}
+
+submodule_target_commit() {
+ local path="$1"
+ git -C "$REPO_ROOT" rev-parse --verify "HEAD:$path" 2>/dev/null \
+ || { echo "Missing submodule gitlink: $path" >&2; exit 1; }
+}
+
+init_submodule_checkout() {
+ local path="$1"
+ local recursive="${2:-0}"
+
+ if ! submodule_known_to_git "$path"; then
+ echo "Missing submodule gitlink: $path" >&2
+ exit 1
+ fi
+
+ if [[ "$recursive" == "1" ]]; then
+ git -C "$REPO_ROOT" submodule update --init --recursive --progress "$path"
+ else
+ git -C "$REPO_ROOT" submodule update --init --progress "$path"
+ fi
+}
+
while IFS= read -r path; do
+ if ! git -C "$REPO_ROOT" config -f .gitmodules --get "submodule.$path.path" >/dev/null; then
+ echo "Unknown submodule path in stage '$STAGE': $path" >&2
+ exit 1
+ fi
+
if [[ "$path" == "$HUNYUAN_PART_PATH" && "${ASSET3D_HUNYUAN_FULL:-0}" != "1" ]]; then
full_path="$REPO_ROOT/$path"
- commit="$(git -C "$REPO_ROOT" rev-parse "HEAD:$path")"
+ commit="$(submodule_target_commit "$path")"
url="$(git -C "$REPO_ROOT" config -f .gitmodules --get "submodule.$path.url")"
branch="$(git -C "$REPO_ROOT" config -f .gitmodules --get "submodule.$path.branch" || true)"
+ module_git_dir="$REPO_ROOT/.git/modules/$path"
echo "Initializing $path with sparse checkout (skipping GLB assets)..."
- git -C "$REPO_ROOT" submodule init "$path"
+ if submodule_known_to_git "$path"; then
+ git -C "$REPO_ROOT" submodule init "$path"
+ fi
if [[ ! -d "$full_path/.git" && ! -f "$full_path/.git" ]]; then
rm -rf "$full_path"
- git clone --filter=blob:none --depth 1 --no-checkout --branch "${branch:-main}" "$url" "$full_path"
+ if [[ ! -e "$module_git_dir" ]]; then
+ mkdir -p "$(dirname "$module_git_dir")"
+ git clone --separate-git-dir "$module_git_dir" --filter=blob:none --depth 1 --no-checkout --branch "${branch:-main}" "$url" "$full_path"
+ else
+ git clone --filter=blob:none --depth 1 --no-checkout --branch "${branch:-main}" "$url" "$full_path"
+ fi
fi
git -C "$full_path" sparse-checkout init --no-cone
git -C "$full_path" sparse-checkout set --no-cone '/*' '!*.glb'
@@ -27,7 +113,11 @@ while IFS= read -r path; do
git -C "$full_path" fetch --depth 1 origin "$commit"
git -C "$full_path" checkout --progress "$commit"
fi
- git -C "$REPO_ROOT" submodule absorbgitdirs "$path"
+ if [[ -d "$full_path/.git" && ! -e "$module_git_dir" ]]; then
+ git -C "$REPO_ROOT" submodule absorbgitdirs "$path"
+ elif [[ -d "$full_path/.git" ]]; then
+ echo "Keeping standalone gitdir for $path; $module_git_dir already exists."
+ fi
continue
fi
@@ -38,33 +128,30 @@ while IFS= read -r path; do
if [[ "$path" == "thirdparty/infinigen" ]]; then
INFI_PATH="$REPO_ROOT/$path"
echo "Initializing $path..."
- git -C "$REPO_ROOT" submodule update --init --progress "$path"
-
- echo "Filtering .gitmodules in $INFI_PATH..."
- git -C "$INFI_PATH" config -f .gitmodules --get-regexp '^submodule\..*\.path$' \
- | while read -r key value; do
- name=$(echo "$key" | sed 's/^submodule\.//;s/\.path$//')
- if [[ "$name" != "infinigen/infinigen_gpl" \
- && "$name" != "infinigen/OcMesher" \
- && "$name" != "infinigen/datagen/customgt/dependencies/glm" ]]; then
- git -C "$INFI_PATH" config -f .gitmodules --remove-section "submodule.$name" || true
- fi
- done
+ init_submodule_checkout "$path"
+
+ if git -C "$INFI_PATH" rev-parse --verify ":src/infinigen/infinigen_gpl" >/dev/null 2>&1; then
+ INFI_MODULE_ROOT="src/infinigen"
+ INFI_EXAMPLES_ROOT="src/infinigen_examples"
+ else
+ INFI_MODULE_ROOT="infinigen"
+ INFI_EXAMPLES_ROOT="infinigen_examples"
+ fi
echo "Recursively initializing infinigen_gpl..."
- git -C "$INFI_PATH" submodule update --init --recursive --progress infinigen/infinigen_gpl
+ git -C "$INFI_PATH" submodule update --init --recursive --progress "$INFI_MODULE_ROOT/infinigen_gpl"
echo "Recursively initializing OcMesher..."
- git -C "$INFI_PATH" submodule update --init --recursive --progress infinigen/OcMesher
+ git -C "$INFI_PATH" submodule update --init --recursive --progress "$INFI_MODULE_ROOT/OcMesher"
echo "Recursively initializing glm..."
- git -C "$INFI_PATH" submodule update --init --recursive --progress infinigen/datagen/customgt/dependencies/glm
+ git -C "$INFI_PATH" submodule update --init --recursive --progress "$INFI_MODULE_ROOT/datagen/customgt/dependencies/glm"
echo "Applying patches to infinigen..."
sed -i.bak \
- "s|'infinigen_examples|'thirdparty/infinigen/infinigen_examples|g" \
- "$INFI_PATH/infinigen_examples/configs_indoor/base_indoors.gin"
- rm -f "$INFI_PATH/infinigen_examples/configs_indoor/base_indoors.gin.bak"
+ "s|'infinigen_examples|'thirdparty/infinigen/$INFI_EXAMPLES_ROOT|g" \
+ "$INFI_PATH/$INFI_EXAMPLES_ROOT/configs_indoor/base_indoors.gin"
+ rm -f "$INFI_PATH/$INFI_EXAMPLES_ROOT/configs_indoor/base_indoors.gin.bak"
echo "Updating scikit-image constraint..."
sed -i.bak \
@@ -76,6 +163,6 @@ while IFS= read -r path; do
fi
echo "Recursively initializing $path..."
- git -C "$REPO_ROOT" submodule update --init --recursive --progress "$path"
+ init_submodule_checkout "$path" 1
-done < <(git -C "$REPO_ROOT" config -f .gitmodules --get-regexp '^submodule\..*\.path$' | awk '{ print $2 }')
+done < <(printf '%s\n' "${REQUESTED_SUBMODULES[@]}")
diff --git a/install/install_basic.sh b/install/install_basic.sh
index 4a54cb9..9f6011f 100644
--- a/install/install_basic.sh
+++ b/install/install_basic.sh
@@ -1,7 +1,9 @@
#!/bin/bash
set -e
SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+PROJECT_ROOT=$(cd "$SCRIPT_DIR/.." && pwd)
source "$SCRIPT_DIR/_utils.sh"
+cd "$PROJECT_ROOT"
PIP_INSTALL_PACKAGES=(
"pip==22.3.1"
@@ -33,4 +35,4 @@ try_install "Installing EmbodiedGen..." \
"pip install -e .[dev]" \
"EmbodiedGen installation failed."
-pre-commit install
\ No newline at end of file
+pre-commit install
diff --git a/install/install_room.sh b/install/install_room.sh
index 6edbfd8..3b602cf 100755
--- a/install/install_room.sh
+++ b/install/install_room.sh
@@ -2,7 +2,8 @@
set -e
-PROJECT_ROOT="$(pwd)"
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+PROJECT_ROOT=$(cd "$SCRIPT_DIR/.." && pwd)
INFINIGEN_DIR="${PROJECT_ROOT}/thirdparty/infinigen"
BLENDER_WGET_LINK='https://download.blender.org/release/Blender4.2/blender-4.2.0-linux-x64.tar.xz'
@@ -61,7 +62,7 @@ fi
BUILD_PYTHONPATH="$TARGET_ENV/lib/python3.11/site-packages${PYTHONPATH:+:$PYTHONPATH}"
CFLAGS="-I$TARGET_ENV/include/python3.11 $CFLAGS" PYTHONPATH="$BUILD_PYTHONPATH" "${BLENDER_PYTHON}" -m pip install --no-build-isolation -e "${INFINIGEN_DIR}[sim]"
-"${BLENDER_PYTHON}" -m pip install pyyaml tyro colorlog openai tenacity json-repair
+"${BLENDER_PYTHON}" -m pip install pyyaml tyro colorlog openai tenacity json-repair packaging
"${BLENDER_PYTHON}" -m pip install -e "${PROJECT_ROOT}"
echo "Setup room env complete."
diff --git a/mkdocs.yml b/mkdocs.yml
index c026e7a..6222521 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -51,7 +51,7 @@ extra:
- icon: fontawesome/brands/github
link: https://github.com/HorizonRobotics/EmbodiedGen
- icon: simple/arxiv
- link: https://arxiv.org/abs/2506.10600
+ link: https://arxiv.org/abs/2607.07459
- icon: fontawesome/solid/globe
link: https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html
- icon: fontawesome/brands/youtube
diff --git a/thirdparty/GraspGen b/thirdparty/GraspGen
new file mode 160000
index 0000000..a56d518
--- /dev/null
+++ b/thirdparty/GraspGen
@@ -0,0 +1 @@
+Subproject commit a56d518f3b76ea2a432b5b838b3c68027d29be49
diff --git a/thirdparty/Hunyuan3D-Part b/thirdparty/Hunyuan3D-Part
new file mode 160000
index 0000000..e96be06
--- /dev/null
+++ b/thirdparty/Hunyuan3D-Part
@@ -0,0 +1 @@
+Subproject commit e96be065375438962375b55326416291342958a7
diff --git a/thirdparty/infinigen b/thirdparty/infinigen
new file mode 160000
index 0000000..892947b
--- /dev/null
+++ b/thirdparty/infinigen
@@ -0,0 +1 @@
+Subproject commit 892947be71c4ff102c6a558d088ffe149561c11f