Habitat / ReplicaCAD replay
Explore a complete apartment and watch Fetch attempt to reach a sugar box. The source navigation oracle reaches its original deadline without success. The recording, its exact independent repeat, and the desktop frame checks are preserved.
Open the recording · Reproduce it locally · Source registry
Available here
| Capability | Habitat / ReplicaCAD recording | HM3D |
|---|---|---|
| Scene inspection | One complete source apartment | Not published here |
| Recorded replay | 401 native states | No bound recording |
| Native task outcome | Failed at the original 400-action limit | Not run here |
| Live browser physics | Not available | Not available |
| Learned-policy or suite result | Not reported | Not reported |
Habitat supplies the simulator and task implementation. ReplicaCAD supplies artist-created variations of one apartment. This page binds one layout and one episode; objects, links, and layout variants are not additional homes. HM3D is a separate collection of real-space scans with its own academic, non-commercial terms. No permitted HM3D dataset is bound to this viewer. Its public examples do not establish unrestricted redistribution rights.
Scene, objects, and navigation
The recording uses ReplicaCAD v1.6 layout v3_sc3_staging_18.scene_instance.json and official minival episode 0. The architecture, 48 rigid objects, and seven articulations including Fetch remain in the scene. Source object identifiers, articulated parent links, and the native navigation mesh are retained. This layout supplies no semantic room labels or room polygons; none are invented.
The display scene records the source asset URLs, hashes, scales, hierarchy, and coordinate conversion. It has 100 visible instances and 211 replay frames: 110 physical body frames, the stage, and 100 graphics-instance frames. Those frame counts are not object or room counts. The native navigation surface preserves its vertices, triangles, and largest indoor island identifier.
Habitat-Lab 0.3.3 and Habitat-Sim 0.3.3 use the pinned headless Bullet package. The source oracle coordinate action selects a navigable approach point around the goal. Its base motion follows Habitat’s navigation mesh; this is not a physical wheel-motor controller.
Outcome and replay limits
The source task requires a horizontal distance below 1.5 m, a facing-angle error below 0.261799 radians, and an explicit stop. Seed 0 ends after 400 actions with success false and distance 4.11349 m. The 401 states include reset and span 19.464 native seconds. Goal sampling, the original horizon, and success conditions are unchanged.
Replay uses measured timestamps: 367 intervals of about 48 ms and 33 of about 56 ms. Physics-node and graphics-instance transforms are separate recorded streams. One cabinet part differs by about 43 micrometres from a fixed physical attachment; the viewer replays its recorded graphics pose. Native RGB was captured asynchronously, so the two retained still images are not a synchronized camera-video track.
The execution receipts and desktop frame proof bind two independent native runs and all 401 samples. The desktop comparison covers 211 frames with maximum error below 1.4 micrometres for normalized physical axes and graphics-instance poses. This is a local scene/viewer check, not pixel-equivalent native rendering, a production performance measurement, or a successful benchmark. Phone testing is deferred.
The scene references about 132 MB of geometry and textures across 72 unique assets. Loading is lazy when this world is opened; the small catalogue index excludes geometry. Replay chunks contain at most 16 native samples. Source geometry is not simplified. Lighting, the inspection camera, and the surrounding viewer grid are presentation aids.
Attribution and files
Habitat code is MIT, copyright Meta Platforms, Inc. and affiliates. ReplicaCAD and Habitat’s YCB distribution declare CC BY 4.0. The Fetch Robotics adaptation is CC BY-NC-SA 4.0; robot geometry stays at its commit-pinned upstream URLs. See the attribution notice for source distributions and derived texture handling.
Legacy Basis textures are decoded to PNG with the native decoder. Row storage and texture references change for browser compatibility; decoded pixels, geometry buffers, mesh hierarchy, and texture coordinates are retained. The display description is an inspection artifact, not a replacement simulator model or a vendor specification.