According to their website, for S3:
Amazon S3 standard storage is designed to provide 99.999999999% durability and to sustain the concurrent loss of data in two facilities,
For RRS:
while RRS is designed to provide 99.99% durability and to sustain the loss of data in a single facility.
Does this effectively mean S3 is replicated in at least 3 data centers while RRS is replicated in at least 2 data centers?
According to the same page that I assume you’re quoting:
They imply that data is either replicated twice or more than twice depending on the service, with no further technical detail.
Slightly more detail here: Protecting Your Data