Imitation from Observation (IfO) prompts the robot to imitate tasks from unlabeled videos via reinforcement learning (RL). The performance of the IfO algorithm depends on its ability to extract task-relevant representations since images are informative. Existing IfO algorithms extract image representations by using a simple encoding network or pre-trained network. Due to the lack of action labels, it is challenging to design a supervised task-relevant proxy task to train the simple encoding network. Representations extracted by a pre-trained network such as Resnet are often task-irrelevant. In this article, we propose a new approach for robot IfO via multimodal observations. Different modalities describe the same information from different sides, which can be used to design an unsupervised proxy task. Our approach contains two modules: the unsupervised cross-modal representation (UCMR) module and a self-behavioral cloning (self-BC)-based RL module. The UCMR module learns to extract task-relevant representations via a multimodal unsupervised proxy task. The Self-BC for further offline policy optimization collects successful experiences during the RL training. We evaluate our approach on the real robot pouring water task, quantitative pouring task, and pouring sand task. The robot achieves state-of-the-art performance.

The discovery that blazars dominate the extra-galactic $\gamma$-ray sky is a triumph in the Fermi era. However, the exact location of $\gamma$-ray emission region still remains in debate. Low-synchrotron-peaked blazars (LSPs) are estimated to produce high-energy radiation through the external Compton process, thus their emission regions are closely related to the external photon fields. We employed the seed factor approach proposed by Georganopoulos et al. It directly matches the observed seed factor of each LSP with the characteristic seed factors of external photon fields to locate the $\gamma$-ray emission region. A sample of 1 138 LSPs with peak frequencies and peak luminosities was adopted to plot a histogram distribution of observed seed factors. We also collected some spectral energy distributions (SEDs) of historical flare states to investigate the variation of $\gamma$-ray emission region. Those SEDs were fitted by both quadratic and cubic functions using the Markov-chain Monte Carlo method. Furthermore, we derived some physical parameters of blazars and compared them with the constraint of internal $\gamma\gamma$-absorption. We find that dusty torus dominates the soft photon fields of LSPs and most $\gamma$-ray emission regions of LSPs are located at 1–10 pc. The soft photon fields could also transition from dusty torus to broad line region and cosmic microwave background in different flare states. Our results suggest that the cubic function is better than the quadratic function to fit the SEDs.

Primitive lamprophyres in orogenic belts can provide crucial insights into the nature of the subcontinental lithosphere and the relevant deep crust–mantle interactions. This paper reports a suite of relatively primitive lamprophyre dykes from the North Qiangtang, central Tibetan Plateau. Zircon U–Pb ages of the lamprophyre dykes range from 214 Ma to 218 Ma, with a weighted mean age of 216 ± 1 Ma. Most of the lamprophyre samples are similar in geochemical compositions to typical primitive magmas (e.g. high MgO contents, Mg no. values and Cr, with low FeOt/MgO ratios), although they might have experienced a slightly low degree of olivine crystallization, and they show arc-like trace-element patterns and enriched Sr–Nd isotopic composition ((87Sr/86Sr)i = 0.70538–0.70540, ϵNd(t) = −2.96 to −1.65). Those geochemical and isotopic variations indicate that the lamprophyre dykes originated from partial melting of a phlogopite- and spinel-bearing peridotite mantle modified by subduction-related aqueous fluids. Combining with the other regional studies, we propose that slab subduction might have occurred during Late Triassic time, and the rollback of the oceanic lithosphere induced the lamprophyre magmatism in the central Tibetan Plateau.

A12-week experiment was conducted to evaluate the influences of thiamine ongrowth performance, and intestinal mitochondrial biogenesis and function of Megalobramaamblycephala fed a high-carbohydrate (HC) diet. Fish (24·73 (sem 0·45) g) were randomly assigned to one of four diets: two carbohydrate (CHO) levels (30 and 45 %) and two thiamine levels (0 and 1·5 mg/kg). HC diets significantly decreased DGC, GRMBW, FIMBW, intestinal activities of amylase, lipase, Na+, K+-ATPase, CK, complexes I, III and IV, intestinal ML, number of mitochondrial per field, ΔΨm, the P-AMPK: T-AMPK ratio, PGC-1β protein expression as well as the transcriptions of AMPKα1, AMPKα2, PGC-1β, mitochondrial transcription factor A, Opa-1, ND-1 and COX-1 and 2, while the opposite was true for ATP, AMP and reactive oxygen species, and the transcriptions of dynamin-related protein-1, fission-1 and mitochondrial fission factor. Dietarythiamine concentrations significantly increased DGC, GRMBW, intestinal activities of amylase, Na+, K+-ATPase, CK, complexes I and IV, intestinal ML, number of mitochondrial per field, ΔΨm, the P-AMPK:T-AMPK ratio, PGC-1β protein expression as well as the transcriptions of AMPKα1, AMPKα2, PGC-1β, Opa-1, ND-1, COX-1 and 2, SGLT-1 and GLUT-2. Furthermore, a significant interaction between dietary CHO and thiamine was observed in DGC, GRMBW, intestinal activities of amylase, CK, complexes I and IV, ΔΨm, the AMP:ATP ratio, the P-AMPK:T-AMPK ratio, PGC-1β protein expression as well as the transcriptions of AMPKα1, AMPKα2, PGC-1β, Opa-1, COX-1 and 2, SGLT-1 and GLUT-2. Overall, thiamine supplementation improved growth performance, and intestinal mitochondrial biogenesis and function of M. amblycephala fed HC diets.

This paper presents a comprehensive study of the zircon geochronology, geochemistry and Sr–Nd isotope geology of Devonian mafic rocks developed in the East Kunlun orogenic belt, northern Tibetan Plateau, and reveals their mantle sources, petrogenesis and geodynamic implications for continental exhumation. The zircon geochronology of typical samples indicates that these mafic rocks crystallized at 406∼408 Ma. They can be classified into two different groups based on petrographic observations and geochemical compositions. Group 1 rocks exhibit low TiO2 and FeOt contents and Nb/Y ratios and have enriched mid-ocean ridge basalt (E-MORB)-like compositions with slight negative Nb and Ta anomalies. However, Group 2 rocks have distinctly high TiO2 and FeOt contents and Nb/Y ratios, comparable to typical Fe–Ti-rich mafic rocks worldwide. All the samples exhibit weak enrichments in light rare earth elements, Nb and Ta relative to the primitive mantle. Based on geochemical and isotopic studies, Group 1 rocks are suggested to be derived from depleted asthenospheric mantle that was metasomatized by c. 3–5 % continental crustal components, while Group 2 rocks originated from partial melting of enriched lithospheric mantle. The high contents of Fe, Ti and Nb for Group 2 rocks could be attributed to a high degree of olivine crystallization under low fO2 conditions with delayed nucleation of Fe–Ti oxides. Combining those results with other geological data, we conclude that slab break-off was the key factor causing exhumation of eclogites and triggering flare-up of the Devonian magmatism, and that continental collision or continental subduction may have initiated at 431∼436 Ma.

Wheatgrass, Thinopyrum Löve (Elytrigia Nevski), is one of the most important alien resources for wheat improvement. To determine the transferability of wheat microsatellite primers to Thinopyrum spp., 40 wheat microsatellite primer pairs were selected to perform PCR analysis on 17 accessions of Thinopyrum spp. and two common wheat (Triticum aestivum) cultivars. Among the 40 primer pairs used, 25 pairs could produce PCR products on all or most of the alien species. Moreover, all of these 25 primer pairs, except Xgwm325, showed polymorphism in the Thinopyrum accessions. In total, 108 alleles were detected by the 25 primer pairs. The number of alleles per primer pair varied from 1 to 8, with an average of 4.3 alleles per primer. Although primer Xgwm325 did not detect polymorphic alleles in Thinopyrum spp., it could be used as a specific SSR marker for them. It amplified four specific DNA fragments in Thinopyrum spp. of length approximately 1400, 440, 120 and 100 bp. To verify the validity of these molecular markers, a further PCR programme with primer Xgwm325 was conducted on a full set of seven wheat–Thinopyrum elongatum disomic addition lines and 15 disomic substitution lines. This showed that only the 100-bp fragment appeared in all materials possessing the alien chromosome, indicating that it was a molecular marker for the entire genome of Th. elongatum, although primer Xgwm325 was specific for chromosome 6D in wheat.