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We analyzed an observation with the Nuclear Spectroscopic Telescope Array of the black-hole X-ray binary MAXI J1535-571 in the soft intermediate state, in which we detected a 2.5-ks long flare. Our spectral fitting results suggest that MAXI J1535-571 possesses a high spin of 0.97 (-0.10/+0.02) and a low inclination of approximately 24 deg. We observed a gradual increase in the inner disc radius, as determined from fits to the continuum spectrum. This trend is inconsistent with an increased flux ratio of the thermal component, as well as the source evolving towards the soft state. This inconsistency may be attributed to a gradual decrease of the color correction factor. Additionally, with a flare velocity of approximately 0.5 c and a higher hardness ratio during the flare period, the quasi-simultaneous detection of a type-B QPO in the Neutron Star Interior Composition Explorer data, and quasi-simultaneous ejecta launch through radio observations collectively provide strong evidence supporting the possibility that the flare originated from a discrete jet ejection., Comment: 11 pages, 8 figures, 3 tables; accepted to be published in MNRAS

Humanoid control is an important research challenge offering avenues for integration into human-centric infrastructures and enabling physics-driven humanoid animations. The daunting challenges in this field stem from the difficulty of optimizing in high-dimensional action spaces and the instability introduced by the bipedal morphology of humanoids. However, the extensive collection of human motion-captured data and the derived datasets of humanoid trajectories, such as MoCapAct, paves the way to tackle these challenges. In this context, we present Humanoid Generalist Autoencoding Planner (H-GAP), a state-action trajectory generative model trained on humanoid trajectories derived from human motion-captured data, capable of adeptly handling downstream control tasks with Model Predictive Control (MPC). For 56 degrees of freedom humanoid, we empirically demonstrate that H-GAP learns to represent and generate a wide range of motor behaviours. Further, without any learning from online interactions, it can also flexibly transfer these behaviors to solve novel downstream control tasks via planning. Notably, H-GAP excels established MPC baselines that have access to the ground truth dynamics model, and is superior or comparable to offline RL methods trained for individual tasks. Finally, we do a series of empirical studies on the scaling properties of H-GAP, showing the potential for performance gains via additional data but not computing. Code and videos are available at https://ycxuyingchen.github.io/hgap/., Comment: 18 pages including appendix, 4 figures

Model-based reinforcement learning (RL) has shown great promise due to its sample efficiency, but still struggles with long-horizon sparse-reward tasks, especially in offline settings where the agent learns from a fixed dataset. We hypothesize that model-based RL agents struggle in these environments due to a lack of long-term planning capabilities, and that planning in a temporally abstract model of the environment can alleviate this issue. In this paper, we make two key contributions: 1) we introduce an offline model-based RL algorithm, IQL-TD-MPC, that extends the state-of-the-art Temporal Difference Learning for Model Predictive Control (TD-MPC) with Implicit Q-Learning (IQL); 2) we propose to use IQL-TD-MPC as a Manager in a hierarchical setting with any off-the-shelf offline RL algorithm as a Worker. More specifically, we pre-train a temporally abstract IQL-TD-MPC Manager to predict "intent embeddings", which roughly correspond to subgoals, via planning. We empirically show that augmenting state representations with intent embeddings generated by an IQL-TD-MPC manager significantly improves off-the-shelf offline RL agents' performance on some of the most challenging D4RL benchmark tasks. For instance, the offline RL algorithms AWAC, TD3-BC, DT, and CQL all get zero or near-zero normalized evaluation scores on the medium and large antmaze tasks, while our modification gives an average score over 40.

On April 27, 2020, the soft gamma ray repeater SGR J1935+2154 entered its intense outburst episode again. Insight-HXMT carried out about one month observation of the source. A total number of 75 bursts were detected during this activity episode by Insight-HXMT, and persistent emission data were also accumulated. We report on the spin period search result and the phase distribution of burst start times and burst photon arrival times of the Insight-HXMT high energy detectors and Fermi Gamma-ray Burst Monitor (GBM). We find that the distribution of burst start times is uniform within its spin phase for both Insight-HXMT and Fermi-GBM observations, whereas the phase distribution of burst photons is related to the type of a burst's energy spectrum. The bursts with the same spectrum have different distribution characteristics in the initial and decay episodes for the activity of magnetar SGR J1935+2154., Comment: 12 pages, 9 figures

Building generally capable agents is a grand challenge for deep reinforcement learning (RL). To approach this challenge practically, we outline two key desiderata: 1) to facilitate generalization, exploration should be task agnostic; 2) to facilitate scalability, exploration policies should collect large quantities of data without costly centralized retraining. Combining these two properties, we introduce the reward-free deployment efficiency setting, a new paradigm for RL research. We then present CASCADE, a novel approach for self-supervised exploration in this new setting. CASCADE seeks to learn a world model by collecting data with a population of agents, using an information theoretic objective inspired by Bayesian Active Learning. CASCADE achieves this by specifically maximizing the diversity of trajectories sampled by the population through a novel cascading objective. We provide theoretical intuition for CASCADE which we show in a tabular setting improves upon na\"ive approaches that do not account for population diversity. We then demonstrate that CASCADE collects diverse task-agnostic datasets and learns agents that generalize zero-shot to novel, unseen downstream tasks on Atari, MiniGrid, Crafter and the DM Control Suite. Code and videos are available at https://ycxuyingchen.github.io/cascade/, Comment: To be published at NeurIPS 2022. Code and videos available at https://ycxuyingchen.github.io/cascade/

Stochastic Gradient Descent or SGD is the most popular optimization algorithm for large-scale problems. SGD estimates the gradient by uniform sampling with sample size one. There have been several other works that suggest faster epoch-wise convergence by using weighted non-uniform sampling for better gradient estimates. Unfortunately, the per-iteration cost of maintaining this adaptive distribution for gradient estimation is more than calculating the full gradient itself, which we call the chicken-and-the-egg loop. As a result, the false impression of faster convergence in iterations, in reality, leads to slower convergence in time. In this paper, we break this barrier by providing the first demonstration of a scheme, Locality sensitive hashing (LSH) sampled Stochastic Gradient Descent (LGD), which leads to superior gradient estimation while keeping the sampling cost per iteration similar to that of the uniform sampling. Such an algorithm is possible due to the sampling view of LSH, which came to light recently. As a consequence of superior and fast estimation, we reduce the running time of all existing gradient descent algorithms, that relies on gradient estimates including Adam, Ada-grad, etc. We demonstrate the effectiveness of our proposal with experiments on linear models as well as the non-linear BERT, which is a recent popular deep learning based language representation model.