Asteroid
Although their location in the asteroid belt excludes them from planet status, the three largest objects, Ceres, Vesta, and Pallas, are intact protoplanets that share many characteristics common to planets, and are atypical compared to the majority of "potato"-shaped asteroids. The fourth largest asteroid, Hygiea, has an undifferentiated interior, like the majority of asteroids. Between them, the four largest asteroids constitute half the mass of the asteroid belt.
253 Mathilde
Mathilde was visited by the NEAR Shoemaker spacecraft during June 1997, on its way to asteroid 433 Eros. During the flyby, the spacecraft imaged a hemisphere of the asteroid, revealing many large craters that had gouged out depressions in the surface. It was the first carbonaceous asteroid to be explored and, until 21 Lutetia was visited in 2010, was the largest asteroid to be visited by a spacecraft.