RoboSplatter 🤖💫

面向机器人仿真的高斯溅射仿真框架 | Gaussian Splatting for Robotic Simulation

🌟 核心特性 ✨ | Core Features

• 实时高斯渲染：集成高效3D高斯溅射渲染管线 | Real-time Gaussian splatting rendering pipeline for 3D.
• 多模态感知：支持RGB、Depth相机等多传感器仿真 | Multi-modal perception support with RGB, Depth cameras, and other sensors.

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🛠️ 安装指南 | Installation Guide

Pre-requests

• uv
• git-lfs
• CUDA >= 11.8

环境配置 ｜ Environment Configuration

# 1. Clone the repository:
git clone https://github.com/HorizonRobotics/RoboSplatter.git
cd robosplatter

# 2. Set up a uv environment:
uv sync

# 3. Install the required dependencies (Take few mins to compile gsplat):
uv pip install -e .
pre-commit install # only for developer

下载资产 ｜ Download assets

The example assets will exist in assets/example_asset if you have configured git-lfs correctly. If you do not have assets in assets/example_asset, please make sure you have configured git-lfs properly.

🚀 运行指南 | Running Guide

GS渲染 | GS Render

render background

uv run render-cli --data_file config/gs_data_basic.yaml \
  --camera_extrinsic "[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]" \
  --camera_intrinsic "[[606.6, 0.0, 326.3], [0.0, 607.6, 242.7], [0.0, 0.0, 1.0]]" \
  --image_height 480 \
  --image_width 640 \
  --device "cuda" \
  --output_dir "./output/background"

render scene batch

uv run robo_splatter/scripts/render_scene_batch.py --data_file config/gs_data_fg_bg_mix.yaml \
  --camera_extrinsic "[[0, 1.5, 0, 0.0, -0.7071, 0.0, -0.7071], [0, 1.5, 0.0, 0.0, -0.5, 0.0, -0.866], [0, 1.5, 0.0, 0.0, -0.2588, 0.0, -0.9659], [0, 1.5, 0.0, 0.0, 0.0, 0.0, -1.0], [0, 1.5, 0.0, 0.0, 0.2588, 0.0, -0.9659], [0, 1.5, 0.0, 0.0, 0.5, 0.0, -0.866], [0, 1.5, 0.0, 0.0, 0.7071, 0.0, -0.7071], [0, 1.5, 0.0, 0.0, 0.866, 0.0, -0.5], [0, 1.5, 0.0, 0.0, 0.9659, 0.0, -0.2588], [0, 1.5, 0.0, 0.0, 1.0, 0.0, 0.0], [0, 1.5, 0.0, 0.0, 0.9659, 0.0, 0.2588], [0, 1.5, 0.0, 0.0, 0.866, 0.0, 0.5],[0, 1.5, 0, 0.0, -0.7071, 0.0, -0.7071]]" \
  --camera_intrinsic "[[256.0, 0.0, 512.0], [0.0, 256.0, 512.0], [0.0, 0.0, 1.0]]" \
  --image_height 1024 \
  --image_width 1024 \
  --coord_system MUJOCO \
  --output_dir "./output/mix_bg_fg_demo" \
  --gen_mp4_path "./output/mix_bg_fg_demo/render.mp4"

🚗 目录结构 | Directory Structure

• robo_splatter/
  • config/: 仿真配置文件 | Simulation configuration files
  • models/: 3D GS数据结构及建模 | 3D GS data structures and modeling
  • render/: 3D GS场景渲染 | 3D GS scene configurations
  • utils/: 通用工具函数 | General utility functions
  • scripts/: 使用示例 | 3D GS example use cases

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🙏 致谢 | Acknowledgments

We utilize the rasterization kernel from gsplat. The design draws inspiration from DriveStudio and DISCOVERSE.

⚖️ License

This project is licensed under the Apache License 2.0. See the LICENSE file for details.

📚 Citation

If you use RoboSplatter in your research or projects, please cite:

@misc{wang2025embodiedgengenerative3dworld,
      title={EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence},
      author={Xinjie Wang and Liu Liu and Yu Cao and Ruiqi Wu and Wenkang Qin and Dehui Wang and Wei Sui and Zhizhong Su},
      year={2025},
      eprint={2506.10600},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2506.10600},
}