Dataset Catalog

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.