EUCLIA - Exploring the UV/optical continuum lag in active galactic nuclei. I. a model without light echoing

The tight inter-band correlation and the lag-wavelength relation among UV/optical continua of active galactic nuclei have been firmly established. They are usually understood within the widespread reprocessing scenario, however, the implied inter-band lags are generally too small. Furthermore, it is challenged by new evidences, such as the X-ray reprocessing yields too much high frequency UV/optical variations as well as it fails to reproduce the observed timescale-dependent color variations among {\it Swift} lightcurves of NGC 5548. In a different manner, we demonstrate that an upgraded inhomogeneous accretion disk model, whose local {\it independent} temperature fluctuations are subject to a speculated {\it common} large-scale temperature fluctuation, can intrinsically generate the tight inter-band correlation and lag across UV/optical, and be in nice agreement with several observational properties of NGC 5548, including the timescale-dependent color variation. The emergent lag is a result of the {\it differential regression capability} of local temperature fluctuations when responding to the large-scale fluctuation. An average speed of propagations as large as $\gtrsim 15\%$ of the speed of light may be required by this common fluctuation. Several potential physical mechanisms for such propagations are discussed. Our interesting phenomenological scenario may shed new light on comprehending the UV/optical continuum variations of active galactic nuclei.Comment: 18 pages, 8 figures. ApJ accepted. Further comments are very welcome

Millimeter Spectral Line Mapping Observations Toward Four Massive Star Forming HII Regions

We present spectral line mapping observations toward four massive star-forming regions (Cepheus A, DR21S, S76E and G34.26+0.15), with the IRAM 30 meter telescope at 2 mm and 3 mm bands. Totally 396 spectral lines from 51 molecules, one helium recombination line, ten hydrogen recombination lines, and 16 unidentified lines were detected in these four sources. An emission line of nitrosyl cyanide (ONCN, 14$_{0,14}$-13$_{0,13}$) was detected in G34.26+0.15, as first detection in massive star-forming regions. We found that the $c$-C$_{3}$H$_{2}$ and NH$_{2}$D show enhancement in shocked regions as suggested by evidences of SiO and/or SO emission. Column density and rotational temperature of CH$_{3}$CN were estimated with the rotational diagram method for all four sources. Isotope abundance ratios of $^{12}$C/$^{13}$C were derived using HC$_{3}$N and its $^{13}$C isotopologue, which were around 40 in all four massive star-forming regions and slightly lower than the local interstellar value ($\sim$65). $^{14}$N/$^{15}$N and $^{16}$O/$^{18}$O abundance ratios in these sources were also derived using double isotopic method, which were slightly lower than that in local interstellar medium. Except for Cep A, $^{33}$S/$^{34}$S ratio in the other three targets were derived, which were similar to that in the local interstellar medium. The column density ratios of N(DCN)/N(HCN) and N(DCO$^{+}$)/N(HCO$^{+}$) in these sources were more than two orders of magnitude higher than the elemental [D]/[H] ratio, which is 1.5$\times$10$^{-5}$. Our results show the later stage sources, G34.26+0.15 in particular, present more molecular species than earlier stage ones. Evidence of shock activity is seen in all stages studied.Comment: 32 pages, 11 figures, 8 tables, accepted for publication in MNRA

MimicPlay: Long-Horizon Imitation Learning by Watching Human Play

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce the high data requirement, we resort to human play data - video sequences of people freely interacting with the environment using their hands. Even with different morphologies, we hypothesize that human play data contain rich and salient information about physical interactions that can readily facilitate robot policy learning. Motivated by this, we introduce a hierarchical learning framework named MimicPlay that learns latent plans from human play data to guide low-level visuomotor control trained on a small number of teleoperated demonstrations. With systematic evaluations of 14 long-horizon manipulation tasks in the real world, we show that MimicPlay outperforms state-of-the-art imitation learning methods in task success rate, generalization ability, and robustness to disturbances. Code and videos are available at https://mimic-play.github.ioComment: 7th Conference on Robot Learning (CoRL 2023 oral presentation

An intrinsic link between long-term UV/optical variations and X-ray loudness in quasars

Observations have shown that UV/optical variation amplitude of quasars depend on several physi- cal parameters including luminosity, Eddington ratio, and likely also black hole mass. Identifying new factors which correlate with the variation is essential to probe the underlying physical processes. Combining ~ten years long quasar light curves from SDSS stripe 82 and X-ray data from Stripe 82X, we build a sample of X-ray detected quasars to investigate the relation between UV/optical variation amplitude ($\sigma_{rms}$) and X-ray loudness. We find that quasars with more intense X-ray radiation (com- pared to bolometric luminosity) are more variable in UV/optical. Such correlation remains highly significant after excluding the effect of other parameters including luminosity, black hole mass, Ed- dington ratio, redshift, rest-frame wavelength (i.e., through partial correlation analyses). We further find the intrinsic link between X-ray loudness and UV/optical variation is gradually more prominent on longer timescales (up to 10 years in the observed frame), but tends to disappear at timescales < 100 days. This suggests a slow and long-term underlying physical process. The X-ray reprocessing paradigm, in which UV/optical variation is produced by a variable central X-ray emission illuminating the accretion disk, is thus disfavored. The discovery points to an interesting scheme that both the X-ray corona heating and UV/optical variation is quasars are closely associated with magnetic disc turbulence, and the innermost disc turbulence (where corona heating occurs) correlates with the slow turbulence at larger radii (where UV/optical emission is produced).Comment: 9 pages, 4 figures, 1 table, accepted by Ap

3-{[Bis(pyridin-2-ylmeth­yl)amino]­meth­yl}-2-hy­droxy-5-methyl­benz­aldehyde

In the title compound, C21H21N3O2, the pyridine rings and the benzene ring lie in a propeller arrangement around the central tertiary amine N atom. The dihedral angles formed by the benzene ring with the pyridine rings are 61.0 (3) and 49.6 (3)°, while the dihedral angle between the pyridine rings is 69.7 (3)°. The mol­ecular conformation is stabilized by intramolecular bifurcated O—H⋯N hydrogen bonds. In the crystal, inversion dimers are formed via pairs of C—H⋯N hydrogen bonds

VIMA: General Robot Manipulation with Multimodal Prompts

Prompt-based learning has emerged as a successful paradigm in natural language processing, where a single general-purpose language model can be instructed to perform any task specified by input prompts. Yet task specification in robotics comes in various forms, such as imitating one-shot demonstrations, following language instructions, and reaching visual goals. They are often considered different tasks and tackled by specialized models. We show that a wide spectrum of robot manipulation tasks can be expressed with multimodal prompts, interleaving textual and visual tokens. Accordingly, we develop a new simulation benchmark that consists of thousands of procedurally-generated tabletop tasks with multimodal prompts, 600K+ expert trajectories for imitation learning, and a four-level evaluation protocol for systematic generalization. We design a transformer-based robot agent, VIMA, that processes these prompts and outputs motor actions autoregressively. VIMA features a recipe that achieves strong model scalability and data efficiency. It outperforms alternative designs in the hardest zero-shot generalization setting by up to $2.9\times$ task success rate given the same training data. With $10\times$ less training data, VIMA still performs $2.7\times$ better than the best competing variant. Code and video demos are available at https://vimalabs.github.io/Comment: ICML 2023 Camera-ready version. Project website: https://vimalabs.github.io

New Clues to Jet Launching: The inner disks in radio loud quasars may be more stable

Jet launching in radio loud (RL) quasars is one of the fundamental problems in astrophysics. Exploring the differences in the inner accretion disk properties between RL and radio quiet (RQ) quasars might yield helpful clues to this puzzle. We previously discovered that the shorter term UV/optical variations of quasars are bluer than the longer term ones, i.e., the so-called timescale-dependent color variation. This is consistent with the scheme that the faster variations come from the inner and hotter disk regions, thus providing a useful tool to map the accretion disk which is otherwise unresolvable. In this work we compare the UV/optical variations of RL quasars in SDSS Stripe 82 to those of several RQ samples, including those matched in redshift-luminosity-black hole mass and/or color-magnitude. We find that while both RL and RQ populations appear bluer when they brighten, RL quasars potentially show a weaker/flatter dependence on timescale in their color variation. We further find that while both RL and RQ populations on average show similar variation amplitudes at long timescales, fast variations of RL sources appear weaker/smaller (at timescales of ~ 25 -- 300 days in the observer's frame), and the difference is more prominent in the g-band than in the r-band. Inhomogeneous disk simulations can qualitatively reproduce these observed differences if the inner accretion disk of RL quasars fluctuates less based on simple toy models. Though the implications are likely model dependent, the discovery points to an interesting diagram that magnetic fields in RL quasars may be prospectively stronger and play a key role in both jet launching and the stabilization of the inner accretion disk.Comment: Accepted by Science China: Physics, Mechanics & Astronomy; Figures 4, 14, and 15 are the main result

LL3DA: Visual Interactive Instruction Tuning for Omni-3D Understanding, Reasoning, and Planning

Recent advances in Large Multimodal Models (LMM) have made it possible for various applications in human-machine interactions. However, developing LMMs that can comprehend, reason, and plan in complex and diverse 3D environments remains a challenging topic, especially considering the demand for understanding permutation-invariant point cloud 3D representations of the 3D scene. Existing works seek help from multi-view images, and project 2D features to 3D space as 3D scene representations. This, however, leads to huge computational overhead and performance degradation. In this paper, we present LL3DA, a Large Language 3D Assistant that takes point cloud as direct input and respond to both textual-instructions and visual-prompts. This help LMMs better comprehend human interactions and further help to remove the ambiguities in cluttered 3D scenes. Experiments show that LL3DA achieves remarkable results, and surpasses various 3D vision-language models on both 3D Dense Captioning and 3D Question Answering.Comment: Project Page: https://ll3da.github.io