zathura is without a doubt the best pdf reader around. A few configuration options were added to make zathura navigation act more vim-like.
By pressing i, the zathurad dark colorscheme is applied. This dark
colorscheme is changed by the xcs script when a new
Xresources-based colorscheme is chosen.
zathura supports synctex in both directions (tex->pdf and pdf->tex). To make it work with neovim, however, a package called neovim-remote needs to be installed.