Tentative evidence of spatially extended GeV emission from SS433/W50

We analyze 10 years of Fermi-LAT data towards the SS433/W50 region. With the latest source catalog and diffuse background models, the gamma-ray excess from SS433/W50 is detected with a significance of 6{\sigma} in the photon energy range of 500 MeV - 10 GeV. Our analysis indicates that an extended flat disk morphology is preferred over a point-source description, suggesting that the GeV emission region is much larger than that of the TeV emission detected by HAWC. The size of the GeV emission is instead consistent with the extent of the radio nebula W50, a supernova remnant being distorted by the jets, so we suggest that the GeV emission may originate from this supernova remnant. The spectral result of the GeV emission is also consistent with an supernova remnant origin. We also derive the GeV flux upper limits on the TeV emission region, which put moderate constrains on the leptonic models to explain the multiwavelength data.Comment: 7 pages, 4 figures, accepted for publication in A&

Detection of gamma-ray emission from the Coma cluster with Fermi Large Area Telescope and tentative evidence for an extended spatial structure

Many galaxy clusters have giant halos of non-thermal radio emission, indicating the presence of relativistic electrons in the clusters. Relativistic protons may also be accelerated by merger and/or accretion shocks in galaxy clusters. These cosmic-ray (CR) electrons and/or protons are expected to produce gamma-rays through inverse-Compton scatterings or inelastic $pp$ collisions respectively. Despite of intense efforts in searching for high-energy gamma-ray emission from galaxy clusters, conclusive evidence is still missing so far. Here we report the discovery of $\ge 200$ MeV gamma-ray emission from the Coma cluster direction with an unbinned likelihood analysis of the 9 years of {\it Fermi}-LAT Pass 8 data. The gamma-ray emission shows a spatial morphology roughly coincident with the giant radio halo, with an apparent excess at the southwest of the cluster. Using the test statistic analysis, we further find tentative evidence that the gamma-ray emission at the Coma center is spatially extended. The extended component has an integral energy flux of $\sim 2\times 10^{-12}{\rm \ erg\ cm^{-2}\ s^{-1}}$ in the energy range of 0.2 - 300 GeV and the spectrum is soft with a photon index of $\simeq-2.7$. Interpreting the gamma-ray emission as arising from CR proton interaction, we find that the volume-averaged value of the CR to thermal pressure ratio in the Coma cluster is about $\sim 2\%$. Our results show that galaxy clusters are likely a new type of GeV gamma-ray sources, and they are probably also giant reservoirs of CR protons.Comment: 10 pages, 10 figures, Accepted by Physical Review D, more spatial models for the gamma-ray emission are used, systematic checks on the results are adde

Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills. Specifically, $\textit{Diff-Transfer}$ discovers a feasible path within the task space that brings the source task to the target task. At each pair of adjacent points along this task path, which is two sub-tasks, $\textit{Diff-Transfer}$ adapts known actions from one sub-task to tackle the other sub-task successfully. The adaptation is guided by the gradient information from differentiable physics simulations. We propose a novel path-planning method to generate sub-tasks, leveraging $Q$-learning with a task-level state and reward. We implement our framework in simulation experiments and execute four challenging transfer tasks on robotic manipulation, demonstrating the efficacy of $\textit{Diff-Transfer}$ through comprehensive experiments. Supplementary and Videos are on the website https://sites.google.com/view/difftransfe