Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M. Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X. Chang, Manolis Savva, Yili Zhao, Dhruv Batra: Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI. NeurIPS Datasets and Benchmarks 2021