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🚀 Installation

✅ Setup Environment

git clone https://github.com/HorizonRobotics/EmbodiedGen.git
cd EmbodiedGen
git checkout v0.1.6
git submodule update --init --recursive --progress
conda create -n embodiedgen python=3.10.13 -y # recommended to use a new env.
conda activate embodiedgen
bash install.sh basic

✅ 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-4o (Recommended) – Use this if you have access to Azure OpenAI.
  • qwen2.5-vl – An alternative with free usage via OpenRouter, apply a free key here and update api_key in embodied_gen/utils/gpt_config.yaml (50 free requests per day)