Habitat
We present Habitat, a new platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation, before transferring the learned skills to reality. Specifically, Habitat consists of the following: 1. Habitat-Sim: a flexible, high-performance 3D simulator with configurable agents, multiple sensors, and generic 3D dataset handling (with built-in support for SUNCG, Matterport3D, Gibson datasets). Habitat-Sim is fast — when rendering a scene from the Matterport3D dataset, Habitat-Sim achieves several thousand frames per second (fps) running single-threaded, and can reach over 10,000 fps multi-process on a single GPU, which is orders of magnitude faster than the closest simulator. 2. Habitat-API: a modular high-level library for end-to-end development of embodied AI algorithms — defining embodied AI tasks (e.g. navigation, instruction following, question answering), configuring and training embodied agents (via imitation or reinforcement learning, or via classic SLAM), and benchmarking using standard metrics. These large-scale engineering contributions enable us to answer scientific questions requiring experiments that were till now impracticable or `merely’ impractical. Specifically, in the context of point-goal navigation (1) we revisit the comparison between learning and SLAM approaches from two recent works and find evidence for the opposite conclusion — that learning outperforms SLAM, if scaled to total experience far surpassing that of previous investigations, and (2) we conduct the first cross-dataset generalization experiments {train, test} x {Matterport3D, Gibson} for multiple sensors {blind, RGB, RGBD, D} and find that only agents with depth (D) sensors generalize across datasets. We hope that our open-source platform and these findings will advance research in embodied AI. …

MiniMax Entropy Network (MMEN)
How to effectively learn from unlabeled data from the target domain is crucial for domain adaptation, as it helps reduce the large performance gap due to domain shift or distribution change. In this paper, we propose an easy-to-implement method dubbed MiniMax Entropy Networks (MMEN) based on adversarial learning. Unlike most existing approaches which employ a generator to deal with domain difference, MMEN focuses on learning the categorical information from unlabeled target samples with the help of labeled source samples. Specifically, we set an unfair multi-class classifier named categorical discriminator, which classifies source samples accurately but be confused about the categories of target samples. The generator learns a common subspace that aligns the unlabeled samples based on the target pseudo-labels. For MMEN, we also provide theoretical explanations to show that the learning of feature alignment reduces domain mismatch at the category level. Experimental results on various benchmark datasets demonstrate the effectiveness of our method over existing state-of-the-art baselines. …

GANsfer Learning
Medical imaging is a domain which suffers from a paucity of manually annotated data for the training of learning algorithms. Manually delineating pathological regions at a pixel level is a time consuming process, especially in 3D images, and often requires the time of a trained expert. As a result, supervised machine learning solutions must make do with small amounts of labelled data, despite there often being additional unlabelled data available. Whilst of less value than labelled images, these unlabelled images can contain potentially useful information. In this paper we propose combining both labelled and unlabelled data within a GAN framework, before using the resulting network to produce images for use when training a segmentation network. We explore the task of deep grey matter multi-class segmentation in an AD dataset and show that the proposed method leads to a significant improvement in segmentation results, particularly in cases where the amount of labelled data is restricted. We show that this improvement is largely driven by a greater ability to segment the structures known to be the most affected by AD, thereby demonstrating the benefits of exposing the system to more examples of pathological anatomical variation. We also show how a shift in domain of the training data from young and healthy towards older and more pathological examples leads to better segmentations of the latter cases, and that this leads to a significant improvement in the ability for the computed segmentations to stratify cases of AD. …

MaskGAN
Neural text generation models are often autoregressive language models or seq2seq models. These models generate text by sampling words sequentially, with each word conditioned on the previous word, and are state-of-the-art for several machine translation and summarization benchmarks. These benchmarks are often defined by validation perplexity even though this is not a direct measure of the quality of the generated text. Additionally, these models are typically trained via maximum likelihood and teacher forcing. These methods are well-suited to optimizing perplexity but can result in poor sample quality since generating text requires conditioning on sequences of words that may have never been observed at training time. We propose to improve sample quality using Generative Adversarial Networks (GANs), which explicitly train the generator to produce high quality samples and have shown a lot of success in image generation. GANs were originally designed to output differentiable values, so discrete language generation is challenging for them. We claim that validation perplexity alone is not indicative of the quality of text generated by a model. We introduce an actor-critic conditional GAN that fills in missing text conditioned on the surrounding context. We show qualitatively and quantitatively, evidence that this produces more realistic conditional and unconditional text samples compared to a maximum likelihood trained model. …