We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i) Habitat-Sim: a flexible, high-performance 3D simulator with configurable agents, sensors, and generic 3D dataset handling. Habitat-Sim is fast -when rendering a scene from Matterport3D, it achieves several thousand frames per second (fps) running single-threaded, and can reach over 10,000 fps multi-process on a single GPU. (ii) Habitat-API: a modular high-level library for end-toend development of embodied AI algorithms -defining tasks (e.g. navigation, instruction following, question answering), configuring, training, and benchmarking embodied agents.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 [20,16] and find evidence for the opposite conclusion -that learning outperforms SLAM if scaled to an order of magnitude more experience than previous investigations, and (2) we conduct the first cross-dataset generalization experiments {train, test} × {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. * Denotes equal contribution.

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The development of thermo-responsive and reduction-sensitive polymeric micelles based on an amphiphilic block copolymer poly[(PEG-MEMA)-co-(Boc-Cyst-MMAm)]-block-PEG (denoted PEG-P-SS-HP) for the intracellular delivery of anticancer drugs is reported. PTX, as model drug, was loaded into the PEG-P-SS-HP micelles with an encapsulation efficiency >90%, resulting in a high drug loading content (up to 35 wt%). The PTX-loaded PEG-P-SS-HP micelles show slow drug release in PBS and rapid release after incubation with DTT. The PTX-loaded micelles display a better cytotoxic effect than the free drug, whereas empty micelles are found to be non-toxic. The thermo-responsive and reduction-sensitive polymeric micelles described may serve as promising carriers for cytostatic drugs.

Dynamic representation of functional brain networks involved in the sequence analysis of functional connectivity graphs of the brain (FCGB) gains advances in uncovering evolved interaction mechanisms. However, most of the networks, even the event-related ones, are highly heterogeneous due to spurious interactions, which bring challenges to revealing the change patterns of interactive information in the complex dynamic process. In this paper, we propose a network entropy (NE) method to measure connectivity uncertainty of FCGB sequences to alleviate the spurious interaction problem in dynamic network analysis to realize associations with different events during a complex cognitive task. The proposed dynamic analysis approach calculated the adjacency matrices from ongoing electroencephalpgram (EEG) in a sliding time-window to form the FCGB sequences. The probability distribution of Shannon entropy was replaced by the connection sequence distribution to measure the uncertainty of FCGB constituting NE. Without averaging, we used time frequency transform of the NE of FCGB sequences to analyze the event-related changes in oscillatory activity in the single-trial traces during the complex cognitive process of driving. Finally, the results of a verification experiment showed that the NE of the FCGB sequences has a certain time-locked performance for different events related to driver fatigue in a prolonged driving task. The time errors between the extracted time of high-power NE and the recorded time of event occurrence were distributed within the range [−30 s, 30 s] and 90.1% of the time errors were distributed within the range [−10 s, 10 s]. The high correlation (r = 0.99997, p < 0.001) between the timing characteristics of the two types of signals indicates that the NE can reflect the actual dynamic interaction states of brain. Thus, the method may have potential implications for cognitive studies and for the detection of physiological states.