infinigen 1.15.5
Infinite Photorealistic Worlds using Procedural Generation
License: BSD-3-Clause
Requires Python: ==3.11.*
Keywords: computer vision, data generation, procedural


<div align="center">
<img src="docs/images/infinigen.png" width="300"></img>
</div>

# [Infinigen: Infinite Photorealistic Worlds Using Procedural Generation](https://infinigen.org)

[**Getting Started**](#getting-started)
| [**Website**](https://infinigen.org/)
| [**Intro Video**](https://www.youtube.com/watch?v=6tgspeI-GHY)
| [**Papers**](#papers)
| [**Documentation**](#documentation)
| [**Contributing**](#contributing)

<div align="center">
<a href="https://youtu.be/6tgspeI-GHY"> <img src="docs/images/video_thumbnail.png" width="500"></a>
</div>

## Getting Started

First, follow our [Installation Instructions](docs/Installation.md).

### Hello Room: Getting Started with Infinigen Indoors

<p align="center">
  <img src="docs/images/hello_room/dining_blender.png" width="300" />
  <img src="docs/images/hello_room/dining.png" width="300" />
  <img src="docs/images/hello_room/dining_depth.png" width="300" />
  <img src="docs/images/hello_room/dining_obj.png" width="300" />
</p>

See instructions & example commands for Infinigen-Indoors in [HelloRoom.md](docs/HelloRoom.md)

### Hello World: Getting Started with Infinigen Nature

<p align="center">
  <img src="docs/images/hello_world/Image0048_00_00.png" width="300" />
  <img src="docs/images/hello_world/Depth0048_00_00.png" width="300" />
  <img src="docs/images/hello_world/SurfaceNormal_0001_00_00.png" width="300" />
  <img src="docs/images/hello_world/InstanceSegmentation_0001_00_00.png" width="300" />
</p>

See instructions & example commands for Infinigen-Nature in [HelloWorld.md](docs/HelloWorld.md)

## Papers

If you use Infinigen in your work, please cite our academic papers:

<h3 align="center"><a href="https://arxiv.org/pdf/2306.09310">Infinite Photorealistic Worlds using Procedural Generation</a></h3>
<p align="center">
<a href="http://araistrick.com/">Alexander Raistrick</a>*, 
<a href="https://www.lahavlipson.com/">Lahav Lipson</a>*, 
<a href="https://mazeyu.github.io/">Zeyu Ma</a>* (*equal contribution, alphabetical order) <br>
<a href="https://www.cs.princeton.edu/~lm5483/">Lingjie Mei</a>, 
<a href="https://www.cs.princeton.edu/~mingzhew">Mingzhe Wang</a>, 
<a href="https://zuoym15.github.io/">Yiming Zuo</a>, 
<a href="https://kkayan.com/">Karhan Kayan</a>, 
<a href="https://hermera.github.io/">Hongyu Wen</a>, 
<a href="https://pvl.cs.princeton.edu/people.html">Beining Han</a>, <br>
<a href="https://pvl.cs.princeton.edu/people.html">Yihan Wang</a>, 
<a href="http://www-personal.umich.edu/~alnewell/index.html">Alejandro Newell</a>, 
<a href="https://heilaw.github.io/">Hei Law</a>, 
<a href="https://imankgoyal.github.io/">Ankit Goyal</a>, 
<a href="https://yangky11.github.io/">Kaiyu Yang</a>, 
<a href="http://www.cs.princeton.edu/~jiadeng">Jia Deng</a><br>
Conference on Computer Vision and Pattern Recognition (CVPR) 2023
</p>

</p>

```
@inproceedings{infinigen2023infinite,
  title={Infinite Photorealistic Worlds Using Procedural Generation},
  author={Raistrick, Alexander and Lipson, Lahav and Ma, Zeyu and Mei, Lingjie and Wang, Mingzhe and Zuo, Yiming and Kayan, Karhan and Wen, Hongyu and Han, Beining and Wang, Yihan and Newell, Alejandro and Law, Hei and Goyal, Ankit and Yang, Kaiyu and Deng, Jia},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={12630--12641},
  year={2023}
}
```

<h3 align="center"><a href="https://arxiv.org/abs/2406.11824">Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generation</a></h3>
<p align="center">
<a href="http://araistrick.com/">Alexander Raistrick</a>*, 
<a href="https://www.cs.princeton.edu/~lm5483/">Lingjie Mei</a>*, 
<a href="https://kkayan.com/">Karhan Kayan</a>*, (*equal contribution, random order) <br>
<a href="https://david-yan1.github.io/">David Yan</a>, 
<a href="https://zuoym15.github.io/">Yiming Zuo</a>, 
<a href="https://pvl.cs.princeton.edu/people.html">Beining Han</a>, 
<a href="https://hermera.github.io/">Hongyu Wen</a>, 
<a href="https://scholar.google.com/citations?user=q38OfTQAAAAJ&hl=en">Meenal Parakh</a>, <br>
<a href="https://stamatisalex.github.io/">Stamatis Alexandropoulos</a>, 
<a href="https://www.lahavlipson.com/">Lahav Lipson</a>, 
<a href="https://mazeyu.github.io/">Zeyu Ma</a>,
<a href="http://www.cs.princeton.edu/~jiadeng">Jia Deng</a><br>
Conference on Computer Vision and Pattern Recognition (CVPR) 2024
</p>

```
@inproceedings{infinigen2024indoors,
    author    = {Raistrick, Alexander and Mei, Lingjie and Kayan, Karhan and Yan, David and Zuo, Yiming and Han, Beining and Wen, Hongyu and Parakh, Meenal and Alexandropoulos, Stamatis and Lipson, Lahav and Ma, Zeyu and Deng, Jia},
    title     = {Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generation},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    month     = {June},
    year      = {2024},
    pages     = {21783-21794}
}
```

<h3 align="center"><a href="https://arxiv.org/abs/2505.10755">Infinigen-Sim: Procedural Generation of Articulated Simulation Assets</a></h3>
<p align="center">
<a href="https://abhihjoshi.github.io/">Abhishek Joshi</a>, 
<a href="https://pvl.cs.princeton.edu/people.html">Beining Han</a>, 
<a href="https://pvl.cs.princeton.edu/people.html">Jack Nugent</a>, 
<a href="https://zuoym15.github.io/">Yiming Zuo</a>, 
<a href="">Jonathan Liu</a>, 
<a href="https://hermera.github.io/">Hongyu Wen</a>, <br>
<a href="https://stamatisalex.github.io/">Stamatis Alexandropoulos</a>, 
<a href="">Tao Sun</a>, 
<a href="http://araistrick.com/">Alexander Raistrick</a>,  
<a href="">Gaowen Liu</a>,  
<a href="https://www.mcgill.ca/civil/yi-shao">Yi Shao</a>,  
<a href="http://www.cs.princeton.edu/~jiadeng">Jia Deng</a><br>

```
@misc{joshi2025infinigensimproceduralgenerationarticulated,
      title={Infinigen-Sim: Procedural Generation of Articulated Simulation Assets}, 
      author={Abhishek Joshi and Beining Han and Jack Nugent and Yiming Zuo and Jonathan Liu and Hongyu Wen and Stamatis Alexandropoulos and Tao Sun and Alexander Raistrick and Gaowen Liu and Yi Shao and Jia Deng},
      year={2025},
      eprint={2505.10755},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2505.10755}, 
}
```

## Documentation

- [Installation Guide](docs/Installation.md)
- ["Hello World": Generate your first Infinigen-Nature scene](docs/HelloWorld.md)
- ["Hello Room": Generate your first Infinigen-Indoors scene](docs/HelloRoom.md)
- [Configuring Infinigen](docs/ConfiguringInfinigen.md)
- [Configuring Cameras](docs/ConfiguringCameras.md)
- [Downloading pre-generated data](docs/PreGeneratedData.md)
- [Generating individual assets](docs/GeneratingIndividualAssets.md)
- [Exporting to external fileformats (OBJ, OpenUSD, etc)](docs/ExportingToExternalFileFormats.md)
- [Add external assets to indoor scenes](docs/StaticAssets.md)
- [Extended ground-truth](docs/GroundTruthAnnotations.md)
- [Implementing new materials & assets](docs/ImplementingAssets.md)
- [Generating fluid simulations](docs/GeneratingFluidSimulations.md)
- [Exporting to physics simulation](docs/ExportingToSimulators.md)

Please see our [project roadmap](https://infinigen.org/roadmap) and follow us at [https://twitter.com/PrincetonVL](https://twitter.com/PrincetonVL) for updates. 

## Contributing

We welcome contributions! You can contribute in many ways:
- **Contribute code to this repository** - We welcome code contributions. More guidelines coming soon.
- **Contribute procedural generators** - `infinigen/nodes/node_transpiler/dev_script.py` provides tools to convert artist-friendly [Blender Nodes](https://docs.blender.org/manual/en/2.79/render/blender_render/materials/nodes/introduction.html) into python code. Tutorials and guidelines coming soon.
- **Contribute pre-generated data** - Anyone can contribute their computing power to create data and share it with the community. Please stay tuned for a repository of pre-generated data.

### Getting Help

Please post this repository's Github Issues page for help. Please run your command with `--debug`, and let us know:
- What is your computing setup, including OS version, CPU, RAM, GPU(s) and any drivers?
- What version of the code are you using (link a commit hash), and what if any modifications have you made (new configs, code edits)
- What exact command did you run?
- What were the output logs of the command you ran? 
    - If using `manage_jobs`, look in `outputs/MYJOB/MYSEED/logs/` to find the right one.
    - What was the exact python error and stacktrace, if applicable?

### Acknowledgements

Infinigen wouldn't be possible without the fantastic work of the [Blender Foundation](https://www.blender.org/) and it's open-source contributors. Infinigen uses many open source projects, with special thanks to [Land-Lab](https://github.com/landlab/landlab), [BlenderProc](https://github.com/DLR-RM/BlenderProc) [Blender-FLIP-Fluids](https://github.com/rlguy/Blender-FLIP-Fluids) and [Blender-Differential-Growth](https://github.com/inca/blender-differential-growth).

We thank [Thomas Kole](https://blenderartists.org/u/ThomasKole) for providing procedural clouds.

We learned tremendously from online tutorials of 
[Andrew Price](https://www.youtube.com/channel/UCOKHwx1VCdgnxwbjyb9Iu1g),
[Artisans of Vaul](https://www.youtube.com/@ArtisansofVaul),
[Bad Normals](https://www.youtube.com/@BadNormals),
[Blender Tutorial Channel](https://www.youtube.com/@BlenderTutorialChannel),
[blenderbitesize](https://www.youtube.com/@blenderbitesize),
[Blendini](http://www.youtube.com/watch?v=sHr8LjfX09c),
[Bradley Animation](https://www.youtube.com/@bradleyanimation120),
[CGCookie](https://www.youtube.com/watch?v=lPAYX8z9i8M),
[CGRogue](https://www.youtube.com/@PixelicaCG),
[Creative Shrimp](https://www.youtube.com/@CreativeShrimp),
[CrowdRender](https://www.youtube.com/@Crowdrender),
[Dr. Blender](https://www.youtube.com/@DrBlender),
[HEY Pictures](https://www.youtube.com/channel/UCo5rv1z-PPrCh-C7OvO2VAA),
[Ian Hubert](https://www.youtube.com/@IanHubert2),
[Kev Binge](https://www.youtube.com/@KevBinge),
[Lance Phan](https://www.youtube.com/@LancePhan),
[MaxEdge](https://www.youtube.com/@MaxEdge420),
[Mr. Cheebs](https://www.youtube.com/@MrCheebs),
[PixelicaCG](https://www.youtube.com/@PixelicaCG),
[Polyfjord](https://www.youtube.com/@Polyfjord),
[Robbie Tilton](https://www.youtube.com/@RobbieTilton),
[Ryan King Art](https://www.youtube.com/@RyanKingArt),
[Sam Bowman](https://www.youtube.com/@snow_mamba) and
[yogigraphics](https://www.youtube.com/@yojigraphics).
These tutorials provided procedural generators for our early experimentation and served as inspiration for our own implementations in the official release of Infinigen. They are acknowledged in file header comments where applicable. 

Infinigen has evolved significantly since the version described in our CVPR paper. It now features some procedural code obtained from the internet under CC-0 licenses, which are marked with code comments where applicable - no such code was present in the system for the CVPR version.