ReplicaCAD

ReplicaCAD is a high-quality 3D dataset introduced as part of Habitat 2.0 (2021). It consists of artist-authored, annotated, reconfigurable 3D apartment scenes matching real spaces, with articulated objects such as cabinets and drawers that can open and close. The scenes are built on the same real scanned layouts as the original Replica dataset but reconstructed with artist-quality geometry and interactive capabilities. The dataset is designed specifically for training virtual robots in interactive physics-enabled scenarios, supporting realistic interaction, rearrangement, and long-horizon task completion. Each apartment comes with multiple furniture layouts and object configurations, enabling domain randomization for robust policy training. ReplicaCAD is a critical component of the Habitat simulation ecosystem, bridging the gap between static 3D reconstruction and fully interactive embodied AI training environments.