DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments

中文文档

Our paper “DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments” has been accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025.

📦 Installation & Quick Start

Quick Start

1. Clone repository

# Install Git LFS (if not already installed)
## Linux
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt-get install git-lfs

## macOS using Homebrew
brew install git-lfs

git clone https://github.com/TATP-233/DISCOVERSE.git
cd DISCOVERSE

1. Choose installation method

conda create -n discoverse python=3.10 # >=3.8 is ok
conda activate discoverse
pip install -e .

## Auto-detect and download required submodules
python scripts/setup_submodules.py

## Verify installation
python scripts/check_installation.py

Installation by Use Case

Scenario 1: Learning Robot Simulation Basics

pip install -e .  # Core functionality only

Includes: MuJoCo, OpenCV, NumPy and other basic dependencies

Scenario 2: LiDAR SLAM

pip install -e ".[lidar,visualization]"

• Includes: Taichi GPU acceleration, LiDAR simulation, visualization tools
• Function: High-performance LiDAR simulation with Taichi GPU acceleration
• Dependencies: taichi>=1.6.0
• Use Cases: Mobile robot SLAM, LiDAR sensor simulation, point cloud processing

Scenario 3: Robotic Arm Imitation Learning

pip install -e ".[act_full]"

• Includes: ACT algorithm, data collection tools, visualization
• Function: Imitation learning, robot skill training, policy optimization
• Dependencies: torch, einops, h5py, transformers, wandb
• Algorithms: Other algorithms available with [diffusion-policy] and [rdt]

Scenario 4: High-Fidelity Visual Simulation

pip install -e ".[gaussian-rendering]"

• Includes: 3D Gaussian Splatting, PyTorch
• Function: Photorealistic 3D scene rendering with real-time lighting
• Dependencies: torch>=2.0.0, torchvision>=0.14.0, plyfile, PyGlm
• Use Cases: High-fidelity visual simulation, 3D scene reconstruction, Real2Sim pipeline

Module Feature Overview

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