Habitat Data Sequences Generation Scripts

We present Hadage ([Ha]bitat [Da]ta [Ge]nerator). This generator is part of OSMa-Bench pipeline.

Hadage supports generation based on Replica, ReplicaCAD and Habitat Matterport 3D datasets.

Project file structure

Folder tree should be the same.

habitat-data-generator/
    configs/
        lighting/         # lights configs folder
            ...
        sim_settings/     # sim (scene and agent) configs folder
            ...

Make sure to name your files correctly.

data/
    hm3d/
        hm3d_annotated_basis.scene_dataset_config.json
        minival/
            hm3d_annotated_minival_basis.scene_dataset_config.json
            00800-TEEsavR23oF/
            00801-HaxA7YrQdEC/
            ...
    replica_cad/
        ...
    replica/
        ...

Datasets installation

HM3D

Follow installation guide. If you already have access to Matterport datasets:

python -m habitat_sim.utils.datasets_download --username <api-token-id> --password <api-token-secret> --uids hm3d_minival_v0.2

After installation:

• improve shader_type field in scene_dataset_config to material or phong (lights reconfiguring don't work with other shader types)

Augmented Replica CAD

As part of OSMa-Bench we presented ReplicaCAD with augmented semantics annotations. You can easily download the dataset from this HuggingFace page.

git clone https://huggingface.co/datasets/warmhammer/Augmented_ReplicaCAD_dataset

Original Replica CAD

Dataset might be installed in two ways. Better one:

# with conda install
python -m habitat_sim.utils.datasets_download --uids replica_cad_dataset --data-path data/

# with source
python /path/to/habitat_sim/src_python/habitat_sim/utils/datasets_download.py --uids replica_cad_dataset --data-path data/

And another one:

git lfs install
huggingface-cli lfs-enable-largefiles .
git clone https://huggingface.co/datasets/ai-habitat/ReplicaCAD_dataset -b main

Pay attention that we need ReplicaCAD without backed lights.

Replica

Follow Replica dataset installation guide.

Habitat Sim and Lab installation

We recommended to use proposed docker container to run Habitat.

make build-habitat  # building docker image

make up-habitat     # starting contatiner
make prepare        # prepare terminal for visualization
make into-habitat   # attach terminal to container

make stop-habitat   # stop contatiner

Another way is to follow habitat-sim and habitat-lab installation guides.

Data Generation

python3 generate.py "examples/sim_settings_replica_cad.json"  # single config
python3 generate.py "examples/"                               # full directory

Also jupyter notebooks are available in notebooks/ directory.

Citing Hadage

Using Hadage in your research? Please cite the following paper: arxiv

@inproceedings{popov2025osmabench,
    title={OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions},
    author={Popov, Maxim and Kurkova, Regina and Iumanov, Mikhail and Mahmoud, Jaafar and Kolyubin, Sergey},
    booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year={2025}
}