mlsanityData to 14 Oct 2026

The Replica Dataset: A Digital Replica of Indoor Spaces

arXiv 1906.05797 ↗First posted 13 Jun 2019cs.CV cs.GR eess.IVcited by 904

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Cited by 27 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-dynamic-range (HDR) textures, per-primitive semantic class and instance information, and planar mirror and glass reflectors. The goal of Replica is to enable machine learning (ML) research that relies on visually, geometrically, and semantically realistic generative models of the world - for instance, egocentric computer vision, semantic segmentation in 2D and 3D, geometric inference, and the development of embodied agents (virtual robots) performing navigation, instruction following, and question answering. Due to the high level of realism of the renderings from Replica, there is hope that ML systems trained on Replica may transfer directly to real world image and video data. Together with the data, we are releasing a minimal C++ SDK as a starting point for working with the Replica dataset. In addition, Replica is `Habitat-compatible', i.e. can be natively used with AI Habitat for training and testing embodied agents.

Key facts. Cited by 904 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Jun 2019.

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Citing papers per year: 2021: 59; 2022: 75; 2023: 130; 2024: 216; 2025: 228; 2026: 196.

904 papers.

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  1. 2021Ego4D: Around the World in 3,000 Hours of Egocentric Videocited by 1,556
  2. 2025VGGT: Visual Geometry Grounded Transformercited by 1,539
  3. 2025Depth Anything 3: Recovering the Visual Space from Any Viewscited by 692
  4. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 592
  5. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  6. 2023LERF: Language Embedded Radiance Fieldscited by 543
  7. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  8. 2023Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectivescited by 490
  9. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  10. 2022MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstructioncited by 470
  11. 2021In-Place Scene Labelling and Understanding with Implicit Scene Representationcited by 415
  12. 2023Gaussian Splatting SLAMcited by 415
38 more
  1. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 395
  2. 2023Gaussian Grouping: Segment and Edit Anything in 3D Scenescited by 393
  3. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 388
  4. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 371
  5. 2021ABO: Dataset and Benchmarks for Real-World 3D Object Understandingcited by 366
  6. 2023ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planningcited by 365
  7. 2021Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scanscited by 336
  8. 2023ConceptFusion: Open-set Multimodal 3D Mappingcited by 304
  9. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
  10. 2023OpenMask3D: Open-Vocabulary 3D Instance Segmentationcited by 289
  11. 2024GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Imagecited by 286
  12. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  13. 2021Urban Radiance Fieldscited by 263
  14. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 261
  15. 2024A Survey on 3D Gaussian Splattingcited by 224
  16. 2023Object Motion Guided Human Motion Synthesiscited by 212
  17. 2024Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigationcited by 196
  18. 2022SPARF: Neural Radiance Fields from Sparse and Noisy Posescited by 195
  19. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 194
  20. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  21. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 184
  22. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 182
  23. 2022Panoptic Lifting for 3D Scene Understanding with Neural Fieldscited by 174
  24. 2023Aria Digital Twin: A New Benchmark Dataset for Egocentric 3D Machine Perceptioncited by 167
  25. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 164
  26. 2023Segment Any 3D Gaussianscited by 161
  27. 2022CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completioncited by 160
  28. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  29. 2022NeRF: Neural Radiance Field in 3D Vision: A Comprehensive Review (Updated Post-Gaussian Splatting)cited by 158
  30. 2022HUMANISE: Language-conditioned Human Motion Generation in 3D Scenescited by 158
  31. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  32. 2022The Unsurprising Effectiveness of Pre-Trained Vision Models for Controlcited by 155
  33. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 154
  34. 2024StableNormal: Reducing Diffusion Variance for Stable and Sharp Normalcited by 154
  35. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  36. 2023DynamicStereo: Consistent Dynamic Depth from Stereo Videoscited by 148
  37. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 147
  38. 2023EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AIcited by 147

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