ai-habitat/ReplicaCAD_dataset
The ReplicaCAD dataset is an artist‑recreated version of the “FRL Apartment” variant from the Replica dataset, primarily for Habitat simulator household interaction tasks such as object rearrangement. Two download versions are provided: an interactive version for simulation and a photo‑realistic version for high‑fidelity rendering. The interactive version includes one empty scene and six recreated FRL Apartment variants, along with 84 artist‑crafted large‑furniture rearrangements suitable for dynamic simulation in Habitat‑sim. The photo‑realistic version contains the same 84 rearrangements with baked global illumination textures for realistic visualization.
Dataset description and usage context
Dataset Overview
Dataset Name
ReplicaCAD
Purpose
Used for household interaction tasks (e.g., object rearrangement) in the Habitat simulator.
Content
Two variants are offered:
-
ReplicaCAD Interactive:
- Size: 132 MB
- Includes 1 empty scene and 6 recreated "FRL Apartment" variants equipped with large and small furniture, ready for dynamic simulation.
- Contains 84 artist‑crafted large‑furniture rearrangements, divided into 5 macro and 20 micro variants.
- Provides over 90 3D object assets with convex collision geometry and physical properties.
- Supplies 6 stage assets preserving architectural features.
- Offers more than 6 URDF assets defining movable furniture and door properties.
- Includes a SceneDataset configuration file for one‑click import into Habitat.
- Provides a .navmesh file for agents with a 0.3 m radius.
-
ReplicaCAD with Baked Lighting:
- Size: 525 MB
- Contains the same 84 artist‑crafted large‑furniture rearrangements, but with synthetic global illumination baked into textures for photorealistic rendering.
License
Creative Commons Attribution 4.0 International (CC BY 4.0) Public License
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