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The authors benchmarked these algorithms on PointGoal and RoomGoal tasks and found out that, firstly, the naive feedforward algorithm fails to learn any useful representation and, secondly, in small environments, DFP performs better while in big and more complex environments, UNREAL beat the others.

Habitat was designed and built in a way to provide the maximum customizability in terms of the datasets that can be used and how the agents and the environment can be configured. That being said, Habitat works with all the major 3D environment datasets without a problem. Moreover, it is extremely fast in comparison with other simulators. AI2‐THOR and CHALET can get to an fps of roughly 10, MINOS and Gibson can get to around a hundred, and House3D yields 300 fps in the best case, while Habitat is capable of getting up to 10 000 fps. It also provides a more realistic collision model in which if a collision happens, the agent can be moved partially or not at all in the intended direction.