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HochCC merged 1 commit into from
Aug 24, 2026
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chore(docs): Update README docs. #91

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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -7,6 +7,7 @@
[![📄 arXiv](https://img.shields.io/badge/📄-arXiv_v2-b31b1b)](https://arxiv.org/abs/2607.07459)
[![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://youtu.be/MIkJJSVM8L4)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/RbMPX3vTTSwrW0MjwjeXuA)
[![用户群](https://img.shields.io/badge/用户群-07C160?logo=wechat&logoColor=white)](https://horizonrobotics.feishu.cn/wiki/Q9XnwYTTGiPpe7kA5eucLewpnje)

[![🤗 Dataset](https://img.shields.io/badge/🤗-Dataset-blue)](https://huggingface.co/datasets/HorizonRobotics/EmbodiedGenData)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
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1 change: 1 addition & 0 deletions docs/documentation/index.md
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Expand Up @@ -12,6 +12,7 @@ hide:
[![📄 arXiv](https://img.shields.io/badge/📄-arXiv_v2-b31b1b)](https://arxiv.org/abs/2607.07459)
[![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://youtu.be/MIkJJSVM8L4)
[![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/RbMPX3vTTSwrW0MjwjeXuA)
[![用户群](https://img.shields.io/badge/用户群-07C160?logo=wechat&logoColor=white)](https://horizonrobotics.feishu.cn/wiki/Q9XnwYTTGiPpe7kA5eucLewpnje)

[![🤗 Dataset](https://img.shields.io/badge/🤗-Dataset-blue)](https://huggingface.co/datasets/HorizonRobotics/EmbodiedGenData)
[![🤗 Hugging Face](https://img.shields.io/badge/🤗-EmbodiedGen_Asset_Gallery-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer)
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2 changes: 2 additions & 0 deletions docs/documentation/tutorials/affordance.md
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Expand Up @@ -4,6 +4,8 @@ Generate **part-level affordance annotations** for a simulator-ready URDF asset.

The pipeline labels three kinds of information: functional part segmentation, part-wise semantic affordances, and simulation-validated grasp poses. Starting from a URDF with visual and collision meshes, it assigns mesh faces to functional parts, annotates each part with interaction semantics, generates 6-DoF grasp candidates, and filters grasps with physics simulation.

<img src="../assets/affordance.gif" alt="Automatic part-level affordance annotation for simulator-ready assets" style="width: 800px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">

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## ⚡ Command-Line Usage
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Expand Up @@ -130,6 +130,8 @@ Generate **high-quality textures** for 3D meshes using **text prompts**, support

Text-conditioned **garments** deploy as **deformable meshes** in Genesis — the same generate-and-export path, beyond rigid bodies.

<img src="../assets/soft_body.gif" alt="Text-conditioned garments simulated as deformable meshes in Genesis" style="width: 800px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">

### [⚙️ Articulated Objects (DIPO)](articulated_gen.md)

Generate **articulated objects** from dual-state images with **DIPO** (NeurIPS 2025).
Expand All @@ -138,6 +140,8 @@ Generate **articulated objects** from dual-state images with **DIPO** (NeurIPS 2

Semantic part segmentation and grasp pose annotation for sim-ready assets.

<img src="../assets/affordance.gif" alt="Automatic part-level affordance annotation for simulator-ready assets" style="width: 800px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">

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## 🏠 Scale — Large-Scale Scenes
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Generate **multi-room, navigable, instance-editable indoor scenes** at a controllable complexity tier, exported to URDF/USD.

<img src="../assets/worlds.gif" alt="Large-scale multi-room scene generation" style="width: 700px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">

### [🌍 3D Scene Generation](scene_gen.md)

Generate **physically consistent and visually coherent 3D environments** from text prompts. Typically used as **background** 3DGS scenes in simulators for efficient and photo-realistic rendering.
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The same generate-and-export path reaches **soft bodies**: text-conditioned garments generated by EmbodiedGen deploy as **deformable meshes in [Genesis](https://github.com/Genesis-Embodied-AI/Genesis)**, with no manual preparation.

<img src="../assets/soft_body.gif" alt="Text-conditioned garments simulated as deformable meshes in Genesis" style="width: 800px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">

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## ⚡ Usage
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