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Replica Shared Context v2

Validated Habitat-Sim navigation trajectories and Shared Context Points derived from the Replica Dataset v1 release. The primary v45m-slim release contains 46.41 minutes of unique trajectory video.

This repository is public and manually gated. Downloading is permitted only for non-commercial research or educational use under the included Replica Dataset Research Terms. It does not contain the original Replica meshes, textures, semantic source files, or download archives.

v45m-slim contents

21 validated Space groups.
358 unique Paths with 358 unique geometry fingerprints.
2,784.616 seconds (46.4103 minutes) measured from the canonical MP4 files with ffprobe.
543 Shared Context Points.
5,430 Context Views.
Every published Point has exactly 8 horizontal Views at 45-degree increments, one +30-degree View, and one -30-degree View.

The authoritative inventories are:

metadata/v45m-slim/replica-45m-dataset-index.json
metadata/v45m-slim/replica-45m-final-audit.json
metadata/v45m-slim/upload-manifest.json

Archive layout

Each data/v45m-slim/<source>/<group>.tar.zst archive expands to:

group/
├── manifest.json
├── space.json
└── trajectories/<path>/
    ├── preview.mp4
    ├── context/rgb/*.png
    ├── trajectory.json
    ├── frames.jsonl
    ├── context_points.jsonl
    ├── context_views.jsonl
    ├── camera_models.json
    ├── prompt.json
    └── replay_contract.json

The slim archives intentionally exclude Viewer copies and raw per-frame rgb/, depth/, and semantic_instance/ directories. Those full raw modalities remain local generation/QA artifacts and are not required to use the trajectory MP4 plus Shared Context Views.

The machine-readable upload manifest contains archive sizes and SHA256 hashes. Example:

tar --zstd -xf data/v45m-slim/duration-main/shard-000.tar.zst

Legacy first-pass archives remain under data/*.tar.zst. The v45m-slim inventory above is the current release.

Quality and filtering

minimum_valid_depth_fraction >= 0.95
one accepted floor band per record; stairs and cross-floor paths are rejected
expanded NavMesh and try_step executable-path checks
best-effort trajectory generation; failed trajectories are not published
Point publication requires all 10 Views to pass quality checks
exact-pose replay was smoke-tested against the full Replica v1 asset identity

Citation

If you use these derivatives, cite the Replica Dataset technical report:

@article{replica19arxiv,
  title={The Replica Dataset: A Digital Replica of Indoor Spaces},
  author={Straub, Julian and others},
  journal={arXiv preprint arXiv:1906.05797},
  year={2019}
}

Generation code was produced on the isolated feature/shared-context-v2 worktree. See metadata/provenance.json for exact configuration, image, filtering, and verification details.

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Total file size:

75.7 GB

Paper for play0718/Replica-Shared-Context-v2

The Replica Dataset: A Digital Replica of Indoor Spaces

Paper • 1906.05797 • Published Jun 13, 2019