---
license: cc-by-4.0
pretty_name: Augmented ReplicaCAD
---
# Augmented ReplicaCAD Dataset

<!-- ![Demo](assets/demo.gif) -->
[![Demo](assets/demo.png)](https://be2rlab.github.io/OSMa-Bench/static/videos/combined_semantics.mp4)


We present **Augmented ReplicaCAD** dataset. This dataset is part of [OSMa-Bench](https://be2rlab.github.io/OSMa-Bench/) pipeline.

## What is Augmented ReplicaCAD?

[**Visit the ReplicaCAD Homepage**](https://aihabitat.org/datasets/replica_cad/)

The ReplicaCAD dataset is an artist recreation of the scanned “FRL apartment” variations from the Replica dataset. We augmented the original data with semantic masks to provide higher-quality ground-truth annotations for semantic segmentation tasks.

All materials are licensed under the [Creative Commons Attribution 4.0 International (CC BY 4.0) Public License](https://creativecommons.org/licenses/by/4.0/).

## Dataset Contents:

ReplicaCAD offers two dataset variants: one designed for interactive simulation and another for photorealistic visualization with baked lighting. For our work, we selected the simulation-oriented version (without baked lighting) because it includes additional Habitat-specific metadata that enables loading and using semantic annotations.

Note: downloadable dataset contain 84 of the 105 variations described in the paper and shown in the video with the remaining 21 scenes (1 macro variation and associated 20 micro variations) withheld as a test set for challenge evaluation.

Follow the link for additional info: [HuggingFace](https://huggingface.co/datasets/ai-habitat/ReplicaCAD_dataset)

## Citing Augmented ReplicaCAD

Using Augmented ReplicaCAD in your research? Please cite following papers: [OSMa-Bench arxiv](https://arxiv.org/abs/2503.10331) and [ReplicaCAD arxiv](https://arxiv.org/abs/2106.14405).

```bibtex
@inproceedings{popov2025osmabench,
    title     = {OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions},
    author    = {Popov, Maxim and Kurkova, Regina and Iumanov, Mikhail and Mahmoud, Jaafar and Kolyubin, Sergey},
    booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year      = {2025}
}

@inproceedings{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},
    booktitle =     {Advances in Neural Information Processing Systems (NeurIPS)},
    year      =     {2021}
}
```