Roman public baths were an important social institution where people would go to bathe, exercise, and socialize. There were separate facilities for men and women. Small baths were called balnea while larger more luxurious ones were known as thermae. The Romans improved upon Greek baths by adding underfloor heating systems called hypocausts to warm the rooms. Bathers would progress through different temperature rooms, starting with warm tepidarium, then hot caldarium, and finishing with a cold plunge in the frigidarium. Seneca complained the nearby baths were very noisy with people exercising and getting massages.