HorizonRobotics · HochCC · Nov 6, 2025 · Nov 6, 2025 · Nov 6, 2025
diff --git a/README.md b/README.md
@@ -1,6 +1,7 @@
 # *EmbodiedGen*: Towards a Generative 3D World Engine for Embodied Intelligence
 
 [![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/)
+[![GitHub](https://img.shields.io/badge/GitHub-EmbodiedGen-black?logo=github)](https://github.com/HorizonRobotics/EmbodiedGen)
 [![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600)
 [![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk)
 [![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)

diff --git a/docs/index.md b/docs/index.md
@@ -6,6 +6,7 @@ hide:
 # 👋 Welcome to EmbodiedGen
 
 [![📖 Documentation](https://img.shields.io/badge/📖-Documentation-blue)](https://horizonrobotics.github.io/EmbodiedGen/)
+[![GitHub](https://img.shields.io/badge/GitHub-EmbodiedGen-black?logo=github)](https://github.com/HorizonRobotics/EmbodiedGen)
 [![📄 arXiv](https://img.shields.io/badge/📄-arXiv-b31b1b)](https://arxiv.org/abs/2506.10600)
 [![🎥 Video](https://img.shields.io/badge/🎥-Video-red)](https://www.youtube.com/watch?v=rG4odybuJRk)
 [![中文介绍](https://img.shields.io/badge/中文介绍-07C160?logo=wechat&logoColor=white)](https://mp.weixin.qq.com/s/HH1cPBhK2xcDbyCK4BBTbw)

diff --git a/docs/js/model_viewer.js b/docs/js/model_viewer.js
@@ -0,0 +1,34 @@
+document.addEventListener('DOMContentLoaded', function () {
+
+  const swiperElement = document.querySelector('.swiper1');
+
+  if (swiperElement) {
+    const swiper = new Swiper('.swiper1', {
+      loop: true,
+      slidesPerView: 3,
+      spaceBetween: 20,
+      navigation: {
+        nextEl: '.swiper-button-next',
+        prevEl: '.swiper-button-prev',
+      },
+      centeredSlides: false,
+      noSwiping: true,
+      noSwipingClass: 'swiper-no-swiping',
+      watchSlidesProgress: true,
+    });
+
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+
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+            swiper.update();
+          }
+        });
+      });
+    }
+  }
+});
diff --git a/docs/services/image_to_3d.md b/docs/services/image_to_3d.md
@@ -1,35 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
-    });
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-          swiper.update();
-        }
-      });
-    });
-  });
-</script>
-
-
 # 🖼️ Image-to-3D Service
 [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Image_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Image-to-3D)
 

diff --git a/docs/services/text_to_3d.md b/docs/services/text_to_3d.md
@@ -1,35 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
-    });
-    const modelViewers = document.querySelectorAll('model-viewer');
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-        if (loadedCount === modelViewers.length) {
-          swiper.update();
-        }
-      });
-    });
-  });
-</script>
-
-
 # 📝 Text-to-3D Service
 
 [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Text_to_3D_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Text-to-3D)

diff --git a/docs/services/texture_edit.md b/docs/services/texture_edit.md
@@ -1,35 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
-    });
-    const modelViewers = document.querySelectorAll('model-viewer');
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-        if (loadedCount === modelViewers.length) {
-          swiper.update();
-        }
-      });
-    });
-  });
-</script>
-
-
 # 🎨 Texture Generation Service
 
 [![🤗 Hugging Face](https://img.shields.io/badge/🤗-Texture_Gen_Demo-blue)](https://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Texture-Gen)

diff --git a/docs/tutorials/any_simulators.md b/docs/tutorials/any_simulators.md
@@ -58,6 +58,6 @@ dst_asset_path = cvt_embodiedgen_asset_to_anysim(
 )
 ```
 
-<img src="/EmbodiedGen/assets/simulators_collision.jpg" alt="simulators_collision" width="800">
+<img src="../assets/simulators_collision.jpg" alt="simulators_collision" width="800">
 
 Collision and visualization mesh across simulators, showing consistent geometry and material fidelity.
diff --git a/docs/tutorials/digital_twin.md b/docs/tutorials/digital_twin.md
@@ -1,3 +1,3 @@
 # Real-to-Sim Digital Twin Creation
 
-<img src="/EmbodiedGen/assets/real2sim_mujoco.gif" alt="real2sim_mujoco" width="600">
+<img src="../assets/real2sim_mujoco.gif" alt="real2sim_mujoco" width="600">
diff --git a/docs/tutorials/gym_env.md b/docs/tutorials/gym_env.md
@@ -14,9 +14,9 @@ python embodied_gen/scripts/parallel_sim.py \
 ```
 
 <div style="display: flex; justify-content: center; align-items: center; gap: 16px; margin: 16px 0;">
-  <img src="/EmbodiedGen/assets/parallel_sim.gif" alt="parallel_sim1"
+  <img src="../assets/parallel_sim.gif" alt="parallel_sim1"
        style="width: 330px; max-width: 100%; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/parallel_sim2.gif" alt="parallel_sim2"
+  <img src="../assets/parallel_sim2.gif" alt="parallel_sim2"
        style="width: 330px; max-width: 100%; border-radius: 12px; display: block;">
 </div>
 
diff --git a/docs/tutorials/image_to_3d.md b/docs/tutorials/image_to_3d.md
@@ -1,34 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
-    });
-    const modelViewers = document.querySelectorAll('model-viewer');
-    let loadedCount = 0;
-    modelViewers.forEach(mv => {
-      mv.addEventListener('load', () => {
-        loadedCount++;
-        if (loadedCount === modelViewers.length) {
-          swiper.update();
-        }
-      });
-    });
-  });
-</script>
-
 # 🖼️ Image-to-3D: Physically Plausible 3D Asset Generation
 
 Generate **physically plausible 3D assets** from a single input image, supporting **digital twin** and **simulation environments**.

diff --git a/docs/tutorials/index.md b/docs/tutorials/index.md
@@ -1,35 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
-    });
-    const modelViewers = document.querySelectorAll('model-viewer');
-    let loadedCount = 0;
-    modelViewers.forEach(mv => {
-      mv.addEventListener('load', () => {
-        loadedCount++;
-        if (loadedCount === modelViewers.length) {
-          swiper.update();
-        }
-      });
-    });
-  });
-</script>
-
-
 # Tutorials & Interface Usage
 
 Welcome to the tutorials for `EmbodiedGen`. `EmbodiedGen` is a powerful toolset for generating 3D assets, textures, scenes, and interactive layouts ready for simulators and digital twin environments.
@@ -161,7 +129,7 @@ Generate **high-quality textures** for 3D meshes using **text prompts**, support
 
 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.
 
-<img src="/EmbodiedGen/assets/scene3d.gif" style="width: 500px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">
+<img src="../assets/scene3d.gif" style="width: 600px; max-width: 100%; border-radius: 12px; display: block; margin: 16px auto;">
 
 ---
 
@@ -170,10 +138,10 @@ Generate **physically consistent and visually coherent 3D environments** from te
 Generate diverse, physically realistic, and scalable **interactive 3D scenes** from natural language task descriptions, while also modeling the robot and manipulable objects.
 
 <div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 16px; justify-items: center; margin: 20px 0;">
-  <img src="/EmbodiedGen/assets/layout1.gif" alt="layout1" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/layout2.gif" alt="layout2" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/layout3.gif" alt="layout3" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/Iscene_demo2.gif" alt="layout4" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout1.gif" alt="layout1" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout2.gif" alt="layout2" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout3.gif" alt="layout3" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/Iscene_demo2.gif" alt="layout4" style="width: 400px; border-radius: 12px; display: block;">
 </div>
 
 
@@ -184,9 +152,9 @@ Generate diverse, physically realistic, and scalable **interactive 3D scenes** f
 Generate multiple **parallel simulation environments** with `gym.make` and record sensor and trajectory data.
 
 <div style="display: flex; justify-content: center; align-items: center; gap: 16px; margin: 16px 0;">
-  <img src="/EmbodiedGen/assets/parallel_sim.gif" alt="parallel_sim1"
+  <img src="../assets/parallel_sim.gif" alt="parallel_sim1"
        style="width: 330px; max-width: 100%; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/parallel_sim2.gif" alt="parallel_sim2"
+  <img src="../assets/parallel_sim2.gif" alt="parallel_sim2"
        style="width: 330px; max-width: 100%; border-radius: 12px; display: block;">
 </div>
 
@@ -198,11 +166,11 @@ Generate multiple **parallel simulation environments** with `gym.make` and recor
 Seamlessly use EmbodiedGen-generated assets in major simulators like **IsaacSim**, **MuJoCo**, **Genesis**, **PyBullet**, **IsaacGym**, and **SAPIEN**, featuring **accurate physical collisions** and **consistent visual appearance**.
 
 <div align="center">
-  <img src="/EmbodiedGen/assets/simulators_collision.jpg" alt="simulators_collision" style="width: 400px; max-width: 100%; border-radius: 12px; display: block; margin: 16px 0;">
+  <img src="../assets/simulators_collision.jpg" alt="simulators_collision" style="width: 600px; max-width: 100%; border-radius: 12px; display: block; margin: 16px 0;">
 </div>
 
 ## [🔧 Real-to-Sim Digital Twin Creation](digital_twin.md)
 
 <div align="center">
-  <img src="/EmbodiedGen/assets/real2sim_mujoco.gif" alt="real2sim_mujoco" style="width: 400px; max-width: 100%; border-radius: 12px; display: block; margin: 16px 0;">
+  <img src="../assets/real2sim_mujoco.gif" alt="real2sim_mujoco" style="width: 400px; max-width: 100%; border-radius: 12px; display: block; margin: 16px 0;">
 </div>
diff --git a/docs/tutorials/layout_gen.md b/docs/tutorials/layout_gen.md
@@ -3,10 +3,10 @@
 Layout Generation enables the generation of diverse, physically realistic, and scalable **interactive 3D scenes** directly from natural language task descriptions, while also modeling the robot's pose and relationships with manipulable objects. Target objects are randomly placed within the robot's reachable range, making the scenes readily usable for downstream simulation and reinforcement learning tasks in any mainstream simulator.
 
 <div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 16px; justify-items: center; margin: 20px 0;">
-  <img src="/EmbodiedGen/assets/layout1.gif" alt="layout1" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/layout2.gif" alt="layout2" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/layout3.gif" alt="layout3" style="width: 400px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/Iscene_demo2.gif" alt="layout4" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout1.gif" alt="layout1" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout2.gif" alt="layout2" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/layout3.gif" alt="layout3" style="width: 400px; border-radius: 12px; display: block;">
+  <img src="../assets/Iscene_demo2.gif" alt="layout4" style="width: 400px; border-radius: 12px; display: block;">
 </div>
 
 !!! note "Model Requirement"
@@ -26,7 +26,7 @@ Each scene takes approximately **30 minutes** to generate. For efficiency, we re
 hf download xinjjj/scene3d-bg --repo-type dataset --local-dir outputs
 
 # Option 2: Download a larger background set (~14 GB)
-hf download xinjjj/EmbodiedGenRLv2-BG --repo-type dataset --local-dir outputs
+hf download xinjjj..RLv2-BG --repo-type dataset --local-dir outputs
 ```
 
 ## Generate Interactive Layout Scenes
@@ -43,12 +43,15 @@ layout-cli \
 ```
 
 You will get the following results:
-<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 16px; justify-items: center; margin: 20px 0;">
-  <img src="/EmbodiedGen/assets/Iscene_demo1.gif" alt="Iscene_demo1" style="width: 240px; border-radius: 12px; display: block;">
-  <img src="/EmbodiedGen/assets/Iscene_demo2.gif" alt="Iscene_demo2" style="width: 480px; border-radius: 12px; display: block;">
+<div align="center" style="display: flex; justify-content: center; align-items: flex-start; gap: 24px; margin: 20px auto; flex-wrap: wrap;">
+  <img src="../assets/Iscene_demo1.gif" alt="Iscene_demo1"
+       style="height: 200px; border-radius: 12px; display: block; width: auto;">
+  <img src="../assets/Iscene_demo2.gif" alt="Iscene_demo2"
+       style="height: 200px; border-radius: 12px; display: block; width: auto;">
 </div>
 
 
+
 ### Batch Generation
 
 You can also run multiple tasks via a task list file in the backend.

diff --git a/docs/tutorials/scene_gen.md b/docs/tutorials/scene_gen.md
@@ -4,7 +4,7 @@ Generate **physically consistent and visually coherent 3D environments** from te
 
 ---
 
-<img src="/EmbodiedGen/assets/scene3d.gif" style="width: 600px; border-radius: 12px; display: block; margin: 16px auto;">
+<img src="../assets/scene3d.gif" style="width: 600px; border-radius: 12px; display: block; margin: 16px auto;">
 
 ---
 

diff --git a/docs/tutorials/text_to_3d.md b/docs/tutorials/text_to_3d.md
@@ -1,35 +1,3 @@
-<script type="module" src="https://unpkg.com/@google/model-viewer/dist/model-viewer.min.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.js"></script>
-<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/swiper/swiper-bundle.min.css">
-<script>
-  document.addEventListener('DOMContentLoaded', function () {
-    const swiper = new Swiper('.swiper1', {
-      loop: true,
-      slidesPerView: 3,
-      spaceBetween: 20,
-      navigation: {
-        nextEl: '.swiper-button-next',
-        prevEl: '.swiper-button-prev',
-      },
-      centeredSlides: false,
-      noSwiping: true,
-      noSwipingClass: 'swiper-no-swiping',
-      watchSlidesProgress: true,
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-    const modelViewers = document.querySelectorAll('model-viewer');
-    let loadedCount = 0;
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-</script>
-
-
 # 📝 Text-to-3D: Generate 3D Assets from Text
 
 Create **physically plausible 3D assets** from **text descriptions**, supporting a wide range of geometry, style, and material details.
-Original file line number
+Diff line change
@@ Expand Up @@
     ---
-    <img src="/EmbodiedGen/assets/scene3d.gif" style="width: 600px; border-radius: 12px; display: block; margin: 16px auto;">
+    <img src="../assets/scene3d.gif" style="width: 600px; border-radius: 12px; display: block; margin: 16px auto;">
     ---
@@ Expand Down @@