BIDEN'S CLAIM: “(If) my home was in a white neighborhood on one side of the highway and yours is in a Black neighborhood, same exact home, your home will start off being valued 29% less than my home, yet your insurance for that home will be higher. You'll be taxed more for it. We’ve got to end this.”

FACT CHECK: Biden’s statement is generally accurate.

After the town hall concluded, Biden’s campaign told ABC News he had been referring to a 2018 study by the Brookings Institution that found “homes of similar quality in neighborhoods with similar amenities are worth 23 percent less ($48,000 per home on average, amounting to $156 billion in cumulative losses) in majority black neighborhoods, compared to those with very few or no black residents.”

His campaign said Biden misspoke and meant to say 23%.

The 1968 Fair Housing Act is supposed to prevent discrimination that leads to those disparities. But civil rights groups and anti-poverty advocates have long argued that even with the law, cities and states can perpetuate housing segregation through zoning laws, insurance and lending policies, as well as tax credits that often favor wealthier white families over others.

Under Trump, Housing Secretary Ben Carson finalized a rule in August 2019 making it harder for people to allege discrimination – a proposal advocated by insurance companies and others in the housing industry that said regulations weren’t clear enough.

-ABC News' Anne Flaherty

BIDEN'S CLAIM: Biden said he had not seen a distribution plan for Regeneron’s monoclonal antibody treatment for COVID-19. "What's happening is there is no plan to figure out how to distribute it," he said. "How many -- you know, we have 500,000, you know, vials of it. Well, we don't have all the testing equipment. We don't have all the ability to get it to the people who need it.”

FACT CHECK: Biden is correct to suggest that Trump has overstated the promise of Regeneron's monoclonal antibody treatment for COVID-19.

However, there is a federal plan for distribution of the treatment touted by Trump.

The U.S. Department of Health and Human Services has said the government is stockpiling doses of antibody treatments for Americans and that it plans to distribute those doses to state governments and hospitals similar to how it delivered the drug remdesivir, another therapeutic that has been administered to people with COVID-19.

Since Oct. 1, hospitals have been able to purchase remdesivir, also known as Veklury, directly from the drug’s distributor. Over the past five months, the U.S. government had overseen the allocation and distribution of the drug in its limited supply.

HHS Secretary Alex Azar has said his agency does not anticipate a problem with delivering the doses so long as the drug receives authorization from regulators.

-ABC News' Arielle Mitropoulos, Sony Salzman and Anne Flaherty

After Stephanopoulos ended the 90-minute town hall, Biden put on a mask and took questions from voters who remained in the hall.

"This is what Joe Biden loves," ABC News Chief Global Affairs Correspondent Martha Raddatz said following the town hall. "We'll all probably be in bed before he's out of that hall."

Democratic voter Keenan Wilson started his question by referencing that the former vice president said he entered the race following the "Unite the Right" rally in Charlottesville, Virginia. He asked Biden how he would steer Trump and his supporters "towards the ideals of a more perfect union."

Biden said he doesn't think Trump would stop his rhetoric and added that the president was emboldened by his impeachment.

The vice president said he would lead by the example set by his father and treat everyone with dignity.

"Whether I'm a defeated candidate for president, back teaching or I'm elected president, it is a major element of everything that I'm about," he said.

Biden said he feels most Americans want to be inclusive and provide opportunities to all regardless of race or background.

"If I'm elected president, you will not hear me race baiting, you will not hear me dividing, you will hear me trying to unify," he said.

Stephanopoulos asked Biden, if he lost, what that would say about the country.

"Well, it could say that I'm a lousy candidate and I didn't do a good job, but I think -- I hope that it doesn't say that we are as racially, ethically and religiously at odds with one other as it appears the president wants us to be," he said.

The vice president, however, said he is committed to making sure that if elected he would be a voice for all Americans.

"I think the people are ready, they understand what's at stake," he said. "I'm going to take care of those who voted against me as well as those who voted for me. For real. That's what presidents do. We've got to heal this nation."

Anthony, a Republican voter from Canonsburg, Pennsylvania, asked Biden about his assertion that he wouldn't raise taxes on anyone making less than $400,000 a year and how that fit with his promise to repeal the Trump tax cuts.

Biden said that the majority of those tax cuts, $1.3 trillion out of a total $2 trillion, went to the wealthiest Americans.

"If you raise the corporate tax just back to 28%, which is a fair tax, you'd raise $1,300,000,000 by that one act," he said. "If you made sure people making over $400,000 paid what they did in the Bush administration, 39.6%, you'd raise another -- it goes up to, let me get you the exact number here -- about another 200 -- excuse me, $92 billion."

Stephanopoulos asked Biden if the economy could handle the tax increases after the (devastation) caused by the pandemic. Biden pointed to a Moody's analysis of his tax plan which said his plan would create 18.6 million jobs and raise the GDP by a trillion dollars. He also talked about the wealth that billionaires gained, while millions of Americans were out of work.

Trump "talks about a V-shaped recovery. It's a K-shaped recovery," Biden said. "If you're on the top, you're going to do very well. ... If you're at the bottom, or you're in the middle or the bottom, your income is coming down. You're not getting a raise."

Stephanopoulos pressed Biden on whether it's wise to raise the corporate tax when the economy is weak.

"We're going to invest a great deal of that money into infrastructure and green infrastructure," he said.