ReplicaCAD Dataset


What is ReplicaCAD?

The ReplicaCAD dataset is an artist recreation of the scanned “FRL apartment” variations from the Replica dataset. This dataset is intended for use in the Habitat simulator for embodied in-home interaction tasks such as object re-arrangement.

All materials are licensed under the Creative Commons Attribution 4.0 International (CC BY 4.0) Public License.

Dataset Contents:

We provide two dataset downloads with different properties: one suited to interactive simulation and other for photorealistic visualization.

ReplicaCAD Interactive:

Intended for use with a PBR shader. Contains 1 empty scene and 6 re-creations of the scanned “FRL apartment” variations staged with both large furniture and small objects and ready for dynamic simulation in Habitat-sim. Also coming soon are 105 artist authored re-arrangements of large furniture (fully static placements except articulations) organized into 5 macro variations (as different tenants may organize the same apartment) each with an additional 20 micro variations (with a few pieces of furniture moved/swapped).

  • 90 3D object assets with convex collision geometry and physical properties (mass, friction, restitution)
  • 6 stage (i.e., static background) assets emptied of all but architectural features (1 each for FRL apartment and the 5 macro variations).
  • 6+ URDF assets defining articulated furniture and door properties
  • 7 SceneDataset configuration files defining object metadata and scene layouts for easy use in the Habitat simulator.

Coming Soon:

  • A set of 105 additional SceneDataset configuration files for the artist authored re-arrangements.

ReplicaCAD with baked lighting (Coming Soon):

  • Download ReplicaCAD with baked lighting

Note: these data are work-in-progress and will continue to be updated in the near future. Stay tuned! Contains the same 105 artist authored re-arrangements of large furniture described in ReplicaCAD Interactive with synthetic global illumination baked into the textures for more photo-realistic visualization. Both the refrigerator and kitchen counter are articulated, but all other furniture is static.

  • 105 stage (i.e., static background) assets with baked light color textures
  • 2 URDF assets (fridge and kitchen counter) with baked light color textures
  • A set of Habitat SceneDataset configuration files defining the placement of the articulated object within the stages

Quickstart in Habitat-sim:

ReplicaCAD can be easily downloaded and used in Habitat-sim in only a few minutes!

First, clone the habitat-sim repo or install with conda as described here.

Then download the dataset:

Note that you can choose the data folder and either dataset may be downloaded and used independently of the other.

# with conda install
python -m habitat_sim.utils.datasets_download --uids replica_cad_dataset replica_cad_baked_lighting --data-path /path/to/data/

# with source
python /path/to/habitat_sim/utils/datasets_download.py --uids replica_cad_dataset replica_cad_baked_lighting --data-path /path/to/data/

For display systems, simply run the interactive viewer. With this application you can navigate the scene, pick up and move objects, and open/close doors, drawers, and cabinets.

# ./build/viewer if compiling locally
habitat-viewer --enable-physics --dataset /path/to/data/replica_cad/replicaCAD.scene_dataset_config.json -- apt_0.scene_instance.json

For headless installations, run the example python script:

python path/to/habitat-sim/examples/tutorials/nb_python/ReplicaCAD_quickstart.py

Don’t want to download?

No worries, try it out in Colab!

Citing ReplicaCAD

Using ReplicaCAD in your research? Please cite the following paper arxiv:

@article{szot2021habitat,
    title     =     {Habitat 2.0: Training Home Assistants to Rearrange their Habitat},
    author    =     {Andrew Szot and Alex Clegg and Eric Undersander and Erik Wijmans and Yili Zhao and John Turner and Noah Maestre and Mustafa Mukadam and Devendra Chaplot and Oleksandr Maksymets and Aaron Gokaslan and Vladimir Vondrus and Sameer Dharur and Franziska Meier and Wojciech Galuba and Angel Chang and Zsolt Kira and Vladlen Koltun and Jitendra Malik and Manolis Savva and Dhruv Batra},
    journal   =     {arXiv preprint arXiv:2106.14405},
    year      =     {2021}
}