---
pretty_name: Replica Shared Context v2
license: other
license_name: replica-dataset-research-terms
license_link: https://github.com/facebookresearch/Replica-Dataset/blob/main/LICENSE
task_categories:
- reinforcement-learning
- visual-question-answering
tags:
- habitat
- replica
- embodied-ai
- navigation
- trajectory
- non-commercial-research
size_categories:
- n<1K
extra_gated_prompt: >-
  Access is limited to non-commercial research or educational use. By requesting
  access you agree to the Replica Dataset Research Terms linked above and included
  in this repository. Do not redistribute the files to anyone who has not first
  agreed to those terms.
extra_gated_fields:
  Full name: text
  Affiliation: text
  Intended non-commercial research or educational use: text
  I agree to the Replica Dataset Research Terms: checkbox
---

# 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:

```text
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:

```bash
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:

```bibtex
@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.