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🚀 Installation

✅ Setup Environment

git clone https://github.com/HorizonRobotics/EmbodiedGen.git
cd EmbodiedGen
git checkout v2.0.1
conda create -n embodiedgen python=3.10.13 -y # recommended to use a new env.
conda activate embodiedgen
# Manually install one CUDA toolkit when needed. cu126 remains the default.
# bash install.sh cu126 # RTX 40-series.
# bash install.sh cu128 # RTX 50-series / Blackwell.
bash install.sh basic # around 10 mins
# Reactivate once so the CUDA and OpenEXR hooks load in the current shell.
conda deactivate && conda activate embodiedgen
# Optional: `bash install.sh scene3d` for scene3d-cli; `bash install.sh room` for room-cli; `bash install.sh affordance` for affordance-cli.

Please huggingface-cli login to ensure that the ckpts can be downloaded automatically afterwards.

✅ Starting from Docker

We provide a pre-built Docker image on Docker Hub with a configured environment for your convenience. For more details, please refer to Docker documentation.

Note: Model checkpoints are not included in the image, they will be automatically downloaded on first run. You still need to set up the GPT Agent manually.

IMAGE=wangxinjie/embodiedgen:env_v0.1.x
CONTAINER=EmbodiedGen-docker-${USER}
docker pull ${IMAGE}
docker run -itd --shm-size="64g" --gpus all --cap-add=SYS_PTRACE --security-opt seccomp=unconfined --privileged --net=host --name ${CONTAINER} ${IMAGE}
docker exec -it ${CONTAINER} bash

✅ Setup GPT Agent

Update the API key in file: embodied_gen/utils/gpt_config.yaml.

You can choose between two backends for the GPT agent:

  • gpt-5.4 (or Higher, Recommended) – Use this if you have access to Azure OpenAI.
  • gemma-4-31b – A free multimodal alternative (google/gemma-4-31b-it:free) via OpenRouter, apply a free key here and update api_key in embodied_gen/utils/gpt_config.yaml. Free-tier availability on OpenRouter can change over time — check the model page before relying on it.