To make things easier we expect `data` folder of particular structure or symlink presented in habitat-lab working directory.

### Scenes datasets

| Scenes models | Extract path | Archive size |
| --- | --- | --- |
| [Habitat test scenes](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#habitat-test-scenes) | `data/scene_datasets/habitat-test-scenes/{scene}.glb` | 89 MB |
| [ReplicaCAD](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#replicacad) | `data/scene_datasets/replica_cad/configs/scenes/{scene}.scene_instance.json` | 123 MB |
| [HM3D](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#habitat-matterport-3d-research-dataset-hm3d) | `data/scene_datasets/hm3d/{split}/00\d\d\d-{scene}/{scene}.basis.glb` | 130 GB |
| [Gibson](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#gibson-and-3dscenegraph-datasets) | `data/scene_datasets/gibson/{scene}.glb` | 1.5 GB |
| [MatterPort3D](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#matterport3d-mp3d-dataset) | `data/scene_datasets/mp3d/{scene}/{scene}.glb` | 15 GB |
| 🆕 [HSSD-Habitat](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#habitat-synthetic-scene-dataset-hssd) | `data/scene_datasets/hssd-hab/scenes/{scene}.scene_instance.json` | XXXXX GB |
| 🆕 [AI2-THOR-Habitat](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#ai2-thor-habitat) | `data/scene_datasets/ai2thor-hab/ai2thor-hab/configs/scenes/{DATASET}/{scene}.scene_instance.json` | XXXXX GB |

These datasets can be downloaded follow the instructions [here](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md).

### Task datasets

| Task | Scenes | Link | Extract path | Config to use                                                                                                          | Archive size |
| --- | --- | --- | --- |------------------------------------------------------------------------------------------------------------------------| --- |
| [Rearrange Pick](https://arxiv.org/abs/2106.14405) | ReplicaCAD | [rearrange_pick_replica_cad_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0.zip) | `data/datasets/rearrange_pick/replica_cad/v0/` | [`datasets/rearrangepick/replica_cad.yaml`](habitat-lab/habitat/config/habitat/dataset/rearrangement/replica_cad.yaml) | 11 MB |
| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson.yaml)                                 | 385 MB |
| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson 0+ (train) | [pointnav_gibson_0_plus_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_0_plus_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson_0_plus.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_0_plus.yaml)                   | 321 MB |
| [Point goal navigation corresponding to Sim2LoCoBot experiment configuration](https://arxiv.org/abs/1912.06321) | Gibson | [pointnav_gibson_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v2/pointnav_gibson_v2.zip) | `data/datasets/pointnav/gibson/v2/` | [`datasets/pointnav/gibson_v2.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_v2.yaml)                           | 274 MB |
| [Point goal navigation](https://arxiv.org/abs/1807.06757) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/mp3d.yaml)                                     | 400 MB |
| [Point goal navigation](https://arxiv.org/abs/1807.06757) | HM3D | [pointnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/hm3d/v1/pointnav_hm3d_v1.zip) | `data/datasets/pointnav/hm3d/v1/` | [`datasets/pointnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/hm3d.yaml)                                     | 992 MB |
| [Object goal navigation](https://arxiv.org/abs/2006.13171) | MatterPort3D | [objectnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v1/objectnav_mp3d_v1.zip) | `data/datasets/objectnav/mp3d/v1/` | [`datasets/objectnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/mp3d.yaml)                                   | 170 MB |
| [Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3DSem-v0.1 | [objectnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v1/objectnav_hm3d_v1.zip) | `data/datasets/objectnav/hm3d/v1/` | [`datasets/objectnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/hm3d.yaml)                                    | 154 MB |
| 🆕 [Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3DSem-v0.2 | [objectnav_hm3d_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v2/objectnav_hm3d_v2.zip) | `data/datasets/objectnav/hm3d/v2/` | [`datasets/objectnav/hm3d_v2.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/hm3d_v2.yaml)                                    | 245 MB |
| 🆕 [Object goal navigation](https://arxiv.org/abs/2006.13171) | HSSD | [objectnav_hssd_v0.2.3.zip](https://www.dropbox.com/s/26ribfiup5249b8/objectnav_hssd_v0.2.3.zip) | `data/datasets/objectnav/hssd-hab` | [`datasets/objectnav/hssd-hab.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/hssd-hab.yaml)                                    | 206 MB |
| 🆕 [Object goal navigation](https://arxiv.org/abs/2006.13171) | ProcTHOR-hab | [objectnav_procthor-hab.zip](https://www.dropbox.com/s/mdfpevn1srr37cr/objectnav_procthor-hab.zip) | `data/datasets/objectnav/procthor-hab` | [`datasets/objectnav/procthor-hab.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/procthor-hab.yaml)                                    | 755 MB |
| [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/eqa/mp3d.yaml)                                               | 44 MB |
| [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](habitat-lab/habitat/config/habitat/dataset/vln/mp3d_r2r.yaml)                                       | 2.7 MB |
| [Instance image goal navigation](https://arxiv.org/abs/2211.15876) | HM3DSem-v0.1 | [instance_imagenav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v1/instance_imagenav_hm3d_v1.zip) | `data/datasets/instance_imagenav/hm3d/v1/` |  [`datasets/instance_imagenav/hm3d_v1.yaml`](habitat-lab/habitat/config/habitat/dataset/instance_imagenav/hm3d_v1.yaml) | 303 MB |
| [Instance image goal navigation](https://arxiv.org/abs/2211.15876) | HM3DSem-v0.2 | [instance_imagenav_hm3d_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v2/instance_imagenav_hm3d_v2.zip) | `data/datasets/instance_imagenav/hm3d/v2/` |  [`datasets/instance_imagenav/hm3d_v2.yaml`](habitat-lab/habitat/config/habitat/dataset/instance_imagenav/hm3d_v2.yaml) | 518 MB |
| 🆕 [Instance image goal navigation](https://arxiv.org/abs/2211.15876) | HM3DSem-v0.2 | [instance_imagenav_hm3d_v3.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v3/instance_imagenav_hm3d_v3.zip) | `data/datasets/instance_imagenav/hm3d/v3/` |  [`datasets/instance_imagenav/hm3d_v3.yaml`](habitat-lab/habitat/config/habitat/dataset/instance_imagenav/hm3d_v3.yaml) | 517 MB |
| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/imagenav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/gibson.yaml)                                 | 385 MB |
| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/imagenav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/mp3d.yaml)                                     | 400 MB |

To use an episode dataset, provide the related config to the Env in [the example](examples/example.py) or use the config for [RL agent training](habitat-baselines/habitat_baselines/README.md#reinforcement-learning-rl).