diff --git a/examples/example.py b/examples/example.py
index 6d627d07099c0c5b61cb271b6467c79bce7ddf45..ede024f8870873e73adf8b5576408bcfb74c841a 100644
--- a/examples/example.py
+++ b/examples/example.py
@@ -8,9 +8,7 @@ import habitat
 
 
 def example():
-    env = habitat.Env(
-        config=habitat.get_config("configs/tasks/pointnav.yaml")
-    )
+    env = habitat.Env(config=habitat.get_config("configs/tasks/pointnav.yaml"))
 
     print("Environment creation successful")
     observations = env.reset()
diff --git a/baselines/README.md b/habitat_baselines/README.md
similarity index 94%
rename from baselines/README.md
rename to habitat_baselines/README.md
index 9829d12c0df1c9e09189688462c7f36cb8d48bb8..2229a8f7ce6ec277802d7adad9a36e6b6c120e92 100644
--- a/baselines/README.md
+++ b/habitat_baselines/README.md
@@ -17,7 +17,7 @@ For training on sample data please follow steps in the repository README. You sh
 
 **train**:
 ```bash
-python -u baselines/train_ppo.py \
+python -u habitat_baselines/train_ppo.py \
     --use-gae \
     --sim-gpu-id 0 \
     --pth-gpu-id 0 \
@@ -42,7 +42,7 @@ python -u baselines/train_ppo.py \
 
 **test**:
 ```bash
-python -u baselines/evaluate_ppo.py \
+python -u habitat_baselines/evaluate_ppo.py \
     --model-path "/path/to/checkpoint" \
     --sim-gpu-id 0 \
     --pth-gpu-id 0 \
diff --git a/baselines/__init__.py b/habitat_baselines/__init__.py
similarity index 100%
rename from baselines/__init__.py
rename to habitat_baselines/__init__.py
diff --git a/baselines/agents/__init__.py b/habitat_baselines/agents/__init__.py
similarity index 100%
rename from baselines/agents/__init__.py
rename to habitat_baselines/agents/__init__.py
diff --git a/baselines/agents/ppo_agents.py b/habitat_baselines/agents/ppo_agents.py
similarity index 97%
rename from baselines/agents/ppo_agents.py
rename to habitat_baselines/agents/ppo_agents.py
index 355dc9de7fffca70187f8941a4bcd4f8e2c0e1d8..ea0b53773f2a19b849bfc499ace1a604ee6a5422 100644
--- a/baselines/agents/ppo_agents.py
+++ b/habitat_baselines/agents/ppo_agents.py
@@ -13,8 +13,8 @@ import torch
 from gym.spaces import Discrete, Dict, Box
 
 import habitat
-from baselines.rl.ppo import Policy
-from baselines.rl.ppo.utils import batch_obs
+from habitat_baselines.rl.ppo import Policy
+from habitat_baselines.rl.ppo.utils import batch_obs
 from habitat import Config
 from habitat.core.agent import Agent
 
diff --git a/baselines/agents/simple_agents.py b/habitat_baselines/agents/simple_agents.py
similarity index 100%
rename from baselines/agents/simple_agents.py
rename to habitat_baselines/agents/simple_agents.py
diff --git a/baselines/agents/slam_agents.py b/habitat_baselines/agents/slam_agents.py
similarity index 97%
rename from baselines/agents/slam_agents.py
rename to habitat_baselines/agents/slam_agents.py
index 2ec49302745d2f41b0ee77adaaf4f9dffa85553c..b230f18ec84dd346e7dba458fd41b357d363073a 100644
--- a/baselines/agents/slam_agents.py
+++ b/habitat_baselines/agents/slam_agents.py
@@ -9,8 +9,8 @@ from math import pi
 import torch.nn.functional as F
 import orbslam2
 import habitat
-from baselines.slambased.utils import generate_2dgrid
-from baselines.slambased.reprojection import (
+from habitat_baselines.slambased.utils import generate_2dgrid
+from habitat_baselines.slambased.reprojection import (
     homogenize_p,
     get_distance,
     project_tps_into_worldmap,
@@ -19,17 +19,17 @@ from baselines.slambased.reprojection import (
     planned_path2tps,
     angle_to_pi_2_minus_pi_2,
 )
-from baselines.slambased.reprojection import (
+from habitat_baselines.slambased.reprojection import (
     angle_to_pi_2_minus_pi_2 as norm_ang,
 )
 from habitat.sims.habitat_simulator import SimulatorActions
-from baselines.slambased.mappers import DirectDepthMapper
-from baselines.slambased.path_planners import DifferentiableStarPlanner
+from habitat_baselines.slambased.mappers import DirectDepthMapper
+from habitat_baselines.slambased.path_planners import DifferentiableStarPlanner
 
-from baselines.config.default import get_config as cfg_baseline
+from habitat_baselines.config.default import get_config as cfg_baseline
 from habitat.config.default import get_config
 
-from baselines.slambased.monodepth import MonoDepthEstimator
+from habitat_baselines.slambased.monodepth import MonoDepthEstimator
 
 # https://sumit-ghosh.com/articles/python-download-progress-bar/
 import sys
@@ -521,7 +521,7 @@ class ORBSLAM2MonodepthAgent(ORBSLAM2Agent):
         self,
         config,
         device=torch.device("cuda:0"),
-        monocheckpoint="baselines/slambased/data/mp3d_resnet50.pth",
+        monocheckpoint="habitat_baselines/slambased/data/mp3d_resnet50.pth",
     ):
         self.num_actions = config.NUM_ACTIONS
         self.dist_threshold_to_stop = config.DIST_TO_STOP
diff --git a/baselines/config/__init__.py b/habitat_baselines/config/__init__.py
similarity index 100%
rename from baselines/config/__init__.py
rename to habitat_baselines/config/__init__.py
diff --git a/baselines/config/default.py b/habitat_baselines/config/default.py
similarity index 95%
rename from baselines/config/default.py
rename to habitat_baselines/config/default.py
index 57b034158ce12d8d477e2e7277d713e8b89d4055..39a9cc377bed39a7ead66a60a8f002ebb2baa0c8 100644
--- a/baselines/config/default.py
+++ b/habitat_baselines/config/default.py
@@ -30,9 +30,11 @@ _C.BASELINE.RL.SLACK_REWARD = -0.01
 # ORBSLAM2 BASELINE
 # -----------------------------------------------------------------------------
 _C.BASELINE.ORBSLAM2 = CN()
-_C.BASELINE.ORBSLAM2.SLAM_VOCAB_PATH = "baselines/slambased/data/ORBvoc.txt"
+_C.BASELINE.ORBSLAM2.SLAM_VOCAB_PATH = (
+    "habitat_baselines/slambased/data/ORBvoc.txt"
+)
 _C.BASELINE.ORBSLAM2.SLAM_SETTINGS_PATH = (
-    "baselines/slambased/data/mp3d3_small1k.yaml"
+    "habitat_baselines/slambased/data/mp3d3_small1k.yaml"
 )
 _C.BASELINE.ORBSLAM2.MAP_CELL_SIZE = 0.1
 _C.BASELINE.ORBSLAM2.MAP_SIZE = 40
diff --git a/baselines/evaluate_ppo.py b/habitat_baselines/evaluate_ppo.py
similarity index 100%
rename from baselines/evaluate_ppo.py
rename to habitat_baselines/evaluate_ppo.py
diff --git a/baselines/rl/__init__.py b/habitat_baselines/rl/__init__.py
similarity index 100%
rename from baselines/rl/__init__.py
rename to habitat_baselines/rl/__init__.py
diff --git a/baselines/rl/ppo/__init__.py b/habitat_baselines/rl/ppo/__init__.py
similarity index 61%
rename from baselines/rl/ppo/__init__.py
rename to habitat_baselines/rl/ppo/__init__.py
index 248f2b30f94deba8914c58543e8641afced98a2a..fad59c373afdd59cb57b179c9cdcc91e6e331be0 100644
--- a/baselines/rl/ppo/__init__.py
+++ b/habitat_baselines/rl/ppo/__init__.py
@@ -4,8 +4,8 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
-from baselines.rl.ppo.ppo import PPO
-from baselines.rl.ppo.policy import Policy
-from baselines.rl.ppo.utils import RolloutStorage
+from habitat_baselines.rl.ppo.ppo import PPO
+from habitat_baselines.rl.ppo.policy import Policy
+from habitat_baselines.rl.ppo.utils import RolloutStorage
 
 __all__ = ["PPO", "Policy", "RolloutStorage"]
diff --git a/baselines/rl/ppo/policy.py b/habitat_baselines/rl/ppo/policy.py
similarity index 99%
rename from baselines/rl/ppo/policy.py
rename to habitat_baselines/rl/ppo/policy.py
index 2c85d8246070f56e45db709c79a53b2ec5ad9586..0fa2adca68d511cc8a97e20b49076a68f7eaed0b 100644
--- a/baselines/rl/ppo/policy.py
+++ b/habitat_baselines/rl/ppo/policy.py
@@ -7,7 +7,7 @@
 import torch
 import torch.nn as nn
 
-from baselines.rl.ppo.utils import Flatten, CategoricalNet
+from habitat_baselines.rl.ppo.utils import Flatten, CategoricalNet
 
 import numpy as np
 
diff --git a/baselines/rl/ppo/ppo.py b/habitat_baselines/rl/ppo/ppo.py
similarity index 100%
rename from baselines/rl/ppo/ppo.py
rename to habitat_baselines/rl/ppo/ppo.py
diff --git a/baselines/rl/ppo/utils.py b/habitat_baselines/rl/ppo/utils.py
similarity index 100%
rename from baselines/rl/ppo/utils.py
rename to habitat_baselines/rl/ppo/utils.py
diff --git a/baselines/slambased/README.md b/habitat_baselines/slambased/README.md
similarity index 100%
rename from baselines/slambased/README.md
rename to habitat_baselines/slambased/README.md
diff --git a/baselines/slambased/data/mp3d3_small1k.yaml b/habitat_baselines/slambased/data/mp3d3_small1k.yaml
similarity index 100%
rename from baselines/slambased/data/mp3d3_small1k.yaml
rename to habitat_baselines/slambased/data/mp3d3_small1k.yaml
diff --git a/baselines/slambased/data/slam-based-agent.png b/habitat_baselines/slambased/data/slam-based-agent.png
similarity index 100%
rename from baselines/slambased/data/slam-based-agent.png
rename to habitat_baselines/slambased/data/slam-based-agent.png
diff --git a/baselines/slambased/install_deps.sh b/habitat_baselines/slambased/install_deps.sh
similarity index 100%
rename from baselines/slambased/install_deps.sh
rename to habitat_baselines/slambased/install_deps.sh
diff --git a/baselines/slambased/mappers.py b/habitat_baselines/slambased/mappers.py
similarity index 98%
rename from baselines/slambased/mappers.py
rename to habitat_baselines/slambased/mappers.py
index 9e903aa709b5077790a61b414958a2ccc8675aa5..527b37cd90d7082b2e4baffc96ba2612625fa94c 100644
--- a/baselines/slambased/mappers.py
+++ b/habitat_baselines/slambased/mappers.py
@@ -1,7 +1,7 @@
 import numpy as np
 import torch
 import torch.nn as nn
-from baselines.slambased.reprojection import (
+from habitat_baselines.slambased.reprojection import (
     get_map_size_in_cells,
     project2d_pcl_into_worldmap,
     reproject_local_to_global,
diff --git a/baselines/slambased/monodepth.py b/habitat_baselines/slambased/monodepth.py
similarity index 100%
rename from baselines/slambased/monodepth.py
rename to habitat_baselines/slambased/monodepth.py
diff --git a/baselines/slambased/path_planners.py b/habitat_baselines/slambased/path_planners.py
similarity index 99%
rename from baselines/slambased/path_planners.py
rename to habitat_baselines/slambased/path_planners.py
index de72810d0dff3759e4c8e064bf0fede26da34f22..eebaebfad5e2b57d98cf873b8a7b9ab9eb4440f3 100644
--- a/baselines/slambased/path_planners.py
+++ b/habitat_baselines/slambased/path_planners.py
@@ -3,7 +3,7 @@ import torch
 import torch.nn.functional as F
 import torch.nn as nn
 import matplotlib.pyplot as plt
-from baselines.slambased.utils import generate_2dgrid
+from habitat_baselines.slambased.utils import generate_2dgrid
 
 
 def safe_roi_2d(array2d, ymin, ymax, xmin, xmax):
diff --git a/baselines/slambased/reprojection.py b/habitat_baselines/slambased/reprojection.py
similarity index 100%
rename from baselines/slambased/reprojection.py
rename to habitat_baselines/slambased/reprojection.py
diff --git a/baselines/slambased/utils.py b/habitat_baselines/slambased/utils.py
similarity index 100%
rename from baselines/slambased/utils.py
rename to habitat_baselines/slambased/utils.py
diff --git a/baselines/train_ppo.py b/habitat_baselines/train_ppo.py
similarity index 100%
rename from baselines/train_ppo.py
rename to habitat_baselines/train_ppo.py
diff --git a/test/test_baseline_agents.py b/test/test_baseline_agents.py
index b8d1cfed68554232a15ff25d837ef98c729620e3..a1800e216f9ce28f14281c1afe2b3b5f8e731da3 100644
--- a/test/test_baseline_agents.py
+++ b/test/test_baseline_agents.py
@@ -7,7 +7,7 @@
 import habitat
 import os
 import pytest
-from baselines.agents import simple_agents
+from habitat_baselines.agents import simple_agents
 
 try:
     import torch
@@ -17,7 +17,7 @@ except ImportError:
     has_torch = False
 
 if has_torch:
-    from baselines.agents import ppo_agents
+    from habitat_baselines.agents import ppo_agents
 
 CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
 
diff --git a/test/test_habitat_env.py b/test/test_habitat_env.py
index 8d10f585597c35f43f35f3b76b06b9e9a64cc1ad..628e94c0c85f22b0a92f0d3d94bce9f9f8e30b4b 100644
--- a/test/test_habitat_env.py
+++ b/test/test_habitat_env.py
@@ -221,7 +221,9 @@ def test_rl_vectorized_envs():
         assert len(rewards) == num_envs
         assert len(dones) == num_envs
         assert len(infos) == num_envs
-        assert envs.render(mode="rgb_array"), "vector env render is broken"
+        assert envs.render(
+            mode="rgb_array"
+        ).all(), "vector env render is broken"
         if (i + 1) % configs[0].ENVIRONMENT.MAX_EPISODE_STEPS == 0:
             assert all(dones), "dones should be true after max_episode steps"