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The isotopic compositions of samples returned from Cb-type asteroid Ryugu and Ivuna-type (CI) chondrites are distinct from other carbonaceous chondrites, which has led to the suggestion that Ryugu and CI chondrites formed in a different region of the accretion disk, possibly around the orbits of Uranus and Neptune. We show that, like for Fe, Ryugu and CI chondrites also have indistinguishable Ni isotope anomalies, which differ from those of other carbonaceous chondrites. We propose that this unique Fe and Ni isotopic composition reflects different accretion efficiencies of small FeNi metal grains among the carbonaceous chondrite parent bodies. The CI chondrites incorporated these grains more efficiently, possibly because they formed at the end of the disk's lifetime, when planetesimal formation was also triggered by photoevaporation of the disk. Isotopic variations among carbonaceous chondrites may thus reflect fractionation of distinct dust components from a common reservoir, implying CI chondrites and Ryugu may have formed in the same region of the accretion disk as other carbonaceous chondrites., Comment: Published open access in Science Advances

Across various applications, humans increasingly use black-box artificial intelligence (AI) systems without insight into these systems' reasoning. To counter this opacity, explainable AI (XAI) methods promise enhanced transparency and interpretability. While recent studies have explored how XAI affects human-AI collaboration, few have examined the potential pitfalls caused by incorrect explanations. The implications for humans can be far-reaching but have not been explored extensively. To investigate this, we ran a study (n=160) on AI-assisted decision-making in which humans were supported by XAI. Our findings reveal a misinformation effect when incorrect explanations accompany correct AI advice with implications post-collaboration. This effect causes humans to infer flawed reasoning strategies, hindering task execution and demonstrating impaired procedural knowledge. Additionally, incorrect explanations compromise human-AI team-performance during collaboration. With our work, we contribute to HCI by providing empirical evidence for the negative consequences of incorrect explanations on humans post-collaboration and outlining guidelines for designers of AI.

Deep neural networks have achieved success across a wide range of applications, including as models of human behavior in vision tasks. However, neural network training and human learning differ in fundamental ways, and neural networks often fail to generalize as robustly as humans do, raising questions regarding the similarity of their underlying representations. What is missing for modern learning systems to exhibit more human-like behavior? We highlight a key misalignment between vision models and humans: whereas human conceptual knowledge is hierarchically organized from fine- to coarse-scale distinctions, model representations do not accurately capture all these levels of abstraction. To address this misalignment, we first train a teacher model to imitate human judgments, then transfer human-like structure from its representations into pretrained state-of-the-art vision foundation models. These human-aligned models more accurately approximate human behavior and uncertainty across a wide range of similarity tasks, including a new dataset of human judgments spanning multiple levels of semantic abstractions. They also perform better on a diverse set of machine learning tasks, increasing generalization and out-of-distribution robustness. Thus, infusing neural networks with additional human knowledge yields a best-of-both-worlds representation that is both more consistent with human cognition and more practically useful, thus paving the way toward more robust, interpretable, and human-like artificial intelligence systems., Comment: 54 pages

The Oort cloud is presumably a pristine relic of the Solar System formation. Detection of the Oort cloud may provide information regarding the stellar environment in which the Sun was born and on the planetesimal population during the outer planets' formation phase. The best suggested approach for detecting Oort cloud objects in situ, is by searching for sub-second occultations of distant stars by these objects. Following Brown & Webster, we discuss the possibility of detecting Oort cloud objects by observing near the quadrature direction. Due to the Earth's projected velocity, the occultations are longer near the quadrature direction and are therefore easier to detect, but have lower rate. We show that, for <1-m size telescopes, the increased exposure time will result in about one to three orders of magnitude increase in the number of detectable stars that have an angular size smaller than the Fresnel scale and are therefore suitable for an occultation search. We discuss the ability of this method to detect Oort cloud objects using existing survey telescopes, and we estimate the detection rate as a function of the power-law index of the size distribution of the Oort cloud objects and their distance from the Sun. We show that occultations detected using ~1-s integration by <1-m telescopes at the optimal region near the quadrature points will be marginally dominated by Oort cloud objects rather than Kuiper belt objects., Comment: AJ in press

Real-time monitoring of dynamic biological processes in the body is critical to understanding disease progression and treatment response. This data, for instance, can help address the lower than 50% response rates to cancer immunotherapy. However, current clinical imaging modalities lack the molecular contrast, resolution, and chronic usability for rapid and accurate response assessments. Here, we present a fully wireless image sensor featuring a 2.5$\times$5 mm$^2$ CMOS integrated circuit for multicolor fluorescence imaging deep in tissue. The sensor operates wirelessly via ultrasound (US) at 5 cm depth in oil, harvesting energy with 221 mW/cm$^{2}$ incident US power density (31% of FDA limits) and backscattering data at 13 kbps with a bit error rate <$10^{-6}$. In-situ fluorescence excitation is provided by micro-laser diodes controlled with a programmable on-chip driver. An optical frontend combining a multi-bandpass interference filter and a fiber optic plate provides >6 OD excitation blocking and enables three-color imaging for detecting multiple cell types. A 36$\times$40-pixel array captures images with <125 $\mu$m resolution. We demonstrate wireless, dual-color fluorescence imaging of both effector and suppressor immune cells in ex vivo mouse tumor samples with and without immunotherapy. These results show promise for providing rapid insight into therapeutic response and resistance, guiding personalized medicine., Comment: *equally contributing authors

In numerous high-stakes domains, training novices via conventional learning systems does not suffice. To impart tacit knowledge, experts' hands-on guidance is imperative. However, training novices by experts is costly and time-consuming, increasing the need for alternatives. Explainable artificial intelligence (XAI) has conventionally been used to make black-box artificial intelligence systems interpretable. In this work, we utilize XAI as an alternative: An (X)AI system is trained on experts' past decisions and is then employed to teach novices by providing examples coupled with explanations. In a study with 249 participants, we measure the effectiveness of such an approach for a classification task. We show that (X)AI-based learning systems are able to induce learning in novices and that their cognitive styles moderate learning. Thus, we take the first steps to reveal the impact of XAI on human learning and point AI developers to future options to tailor the design of (X)AI-based learning systems., Comment: Thirty-Second European Conference on Information Systems (ECIS 2024), Paphos, Cyprus

Automatic speech recognition (ASR) techniques have become powerful tools, enhancing efficiency in law enforcement scenarios. To ensure fairness for demographic groups in different acoustic environments, ASR engines must be tested across a variety of speakers in realistic settings. However, describing the fairness discrepancies between models with confidence remains a challenge. Meanwhile, most public ASR datasets are insufficient to perform a satisfying fairness evaluation. To address the limitations, we built FairLENS - a systematic fairness evaluation framework. We propose a novel and adaptable evaluation method to examine the fairness disparity between different models. We also collected a fairness evaluation dataset covering multiple scenarios and demographic dimensions. Leveraging this framework, we conducted fairness assessments on 1 open-source and 11 commercially available state-of-the-art ASR models. Our results reveal that certain models exhibit more biases than others, serving as a fairness guideline for users to make informed choices when selecting ASR models for a given real-world scenario. We further explored model biases towards specific demographic groups and observed that shifts in the acoustic domain can lead to the emergence of new biases.

As organizations face the challenges of processing exponentially growing data volumes, their reliance on analytics to unlock value from this data has intensified. However, the intricacies of big data, such as its extensive feature sets, pose significant challenges. A crucial step in leveraging this data for insightful analysis is an in-depth understanding of both the data and its domain. Yet, existing literature presents a fragmented picture of what comprises an effective understanding of data and domain, varying significantly in depth and focus. To address this research gap, we conduct a systematic literature review, aiming to delineate the dimensions of data understanding. We identify five dimensions: Foundations, Collection & Selection, Contextualization & Integration, Exploration & Discovery, and Insights. These dimensions collectively form a comprehensive framework for data understanding, providing guidance for organizations seeking meaningful insights from complex datasets. This study synthesizes the current state of knowledge and lays the groundwork for further exploration., Comment: Accepted at 32nd European Conference on Information Systems (2024)

We present a novel proof of a formula of Casini and Huerta for the entanglement entropy of the ground state of non-interacting massless Dirac fermions in dimension one localized to (a union of) intervals and generalize it to the case of R\'enyi entropies. At first, we prove that these entropies are well-defined for non-intersecting intervals. This is accomplished by an inequality of Alexander V.~Sobolev. Then we compute this entropy using a trace formula for Wiener--Hopf operators by Harold Widom. For intersecting intervals, we discuss an extended entropy formula of Casini and Huerta and support this with a proof for polynomial test functions (instead of entropy).

A leading application of quantum computers is the efficient simulation of large unitary quantum systems. Extending this advantage to the study of open Cavity Quantum Electrodynamics (CQED) systems could enable the use of quantum computers in the exploration and design of many-body quantum optical devices. Such devices have promising applications in optical quantum communication, simulation, and computing. In this work, we present an early exploration of the potential for quantum computers to efficiently investigate open CQED physics. Our simulations make use of a recent quantum algorithm that maps the dynamics of a singly excited open Tavis-Cummings model containing $N$ atoms coupled to a lossy cavity. We report the results of executing this algorithm on two noisy intermediate-scale quantum computers, a superconducting processor and a trapped ion processor, to simulate the population dynamics of an open CQED system featuring $N = 3$ atoms. By applying technology-specific transpilation and error mitigation techniques, we minimize the impact of gate errors, noise, and decoherence in each hardware platform, obtaining results which agree closely with the exact solution of the system. These results provide confidence that future simulation algorithms, combined with emerging large-scale quantum processors, can be a powerful tool for studying cavity quantum electrodynamics., Comment: 10 pages, 15 figures

Using a lemma of Davis on Gram matrices applied to the classical Orthogonal Polynomials to generate reproducing kernel interpolation over the classical domains for polynomials. These kernels have terms which are exact over the rational ring. The Condition Numbers are readily shown to get very large with the size of the Gram matrices as expected. The calculation of the error variances for trigonometric functions and the exponential show a significant improvement over the equivalent Taylor expansion variances., Comment: Created on Cocalc

This paper focuses on language change based on shifting social norms, in particular with regard to the debate on language and gender. It is a recurring argument in this debate that language develops "naturally" and that "severe interventions" - such as gender-inclusive language is often claimed to be - in the allegedly "organic" language system are inappropriate and even "dangerous". Such interventions are, however, not unprecedented. Socially motivated processes of language change are neither unusual nor new. We focus in our contribution on one important political-social space in Germany, the German Bundestag. Taking other struggles about language and gender in the plenaries of the Bundestag as a starting point, our article illustrates that language and gender has been a recurring issue in the German Bundestag since the 1980s. We demonstrate how this is reflected in linguistic practices of the Bundestag, by the use of a) designations for gays and lesbians; b) pair forms such as B\"urgerinnen und B\"urger (female and male citizens); and c) female forms of addresses and personal nouns ('Pr\"asidentin' in addition to 'Pr\"asident'). Lastly, we will discuss implications of these earlier language battles for the currently very heated debate about gender-inclusive language, especially regarding new forms with gender symbols like the asterisk or the colon (Lehrer*innen, Lehrer:innen; male*female teachers) which are intended to encompass all gender identities., Comment: 40 pages, 9 figures

Research on gender and language is tightly knitted to social debates on gender equality and non-discriminatory language use. Psycholinguistic scholars have made significant contributions in this field. However, corpus-based studies that investigate these matters within the context of language use are still rare. In our study, we address the question of how much textual material would actually have to be changed if non-gender-inclusive texts were rewritten to be gender-inclusive. This quantitative measure is an important empirical insight, as a recurring argument against the use of gender-inclusive German is that it supposedly makes written texts too long and complicated. It is also argued that gender-inclusive language has negative effects on language learners. However, such effects are only likely if gender-inclusive texts are very different from those that are not gender-inclusive. In our corpus-linguistic study, we manually annotated German press texts to identify the parts that would have to be changed. Our results show that, on average, less than 1% of all tokens would be affected by gender-inclusive language. This small proportion calls into question whether gender-inclusive German presents a substantial barrier to understanding and learning the language, particularly when we take into account the potential complexities of interpreting masculine generics., Comment: 27 pages, 7 figures, 2 tables

Sewage sludge, a biosolid product of wastewater processing, is an often-overlooked source of rich organic waste. Hydrothermal processing (HTP), which uses heat and pressure to convert biomass into various solid, liquid, and gaseous products, has shown promise in converting sewage sludge into new materials with potential application in biofuels, asphalt binders, and bioplastics. In this study we focus on hydrochar, the carbonaceous HTP solid phase, and investigate its use as a bio-based filler in additive manufacturing technologies. We explore the impact of HTP and subsequent thermal activation on chemical and structural properties of sewage sludge and discuss the role of atypical metallic and metalloid dopants in organic material processing. In additive manufacturing composites, although the addition of hydrochar generally decreases mechanical performance, we show that toughness and strain can be recovered with hierarchical microstructures, much like biological materials that achieve outstanding properties by architecting relatively weak building blocks.

The constantly increasing capabilities of artificial intelligence (AI) open new possibilities for human-AI collaboration. One promising approach to leverage existing complementary capabilities is allowing humans to delegate individual instances to the AI. However, enabling humans to delegate instances effectively requires them to assess both their own and the AI's capabilities in the context of the given task. In this work, we explore the effects of providing contextual information on human decisions to delegate instances to an AI. We find that providing participants with contextual information significantly improves the human-AI team performance. Additionally, we show that the delegation behavior changes significantly when participants receive varying types of contextual information. Overall, this research advances the understanding of human-AI interaction in human delegation and provides actionable insights for designing more effective collaborative systems.

Terrain traversability in unstructured off-road autonomy has traditionally relied on semantic classification, resource-intensive dynamics models, or purely geometry-based methods to predict vehicle-terrain interactions. While inconsequential at low speeds, uneven terrain subjects our full-scale system to safety-critical challenges at operating speeds of 7--10 m/s. This study focuses particularly on uneven terrain such as hills, banks, and ditches. These common high-risk geometries are capable of disabling the vehicle and causing severe passenger injuries if poorly traversed. We introduce a physics-based framework for identifying traversability constraints on terrain dynamics. Using this framework, we derive two fundamental constraints, each with a focus on mitigating rollover and ditch-crossing failures while being fully parallelizable in the sample-based Model Predictive Control (MPC) framework. In addition, we present the design of our planning and control system, which implements our parallelized constraints in MPC and utilizes a low-level controller to meet the demands of our aggressive driving without prior information about the environment and its dynamics. Through real-world experimentation and traversal of hills and ditches, we demonstrate that our approach captures fundamental elements of safe and aggressive autonomy over uneven terrain. Our approach improves upon geometry-based methods by completing comprehensive off-road courses up to 22% faster while maintaining safe operation., Comment: Accepted to R:SS 2024

Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to the risk involved in testing or deploying such systems. Accessible platforms have the potential to widen the field to a broader set of researchers and students. Existing efforts in making on-road autonomy more accessible have seen success, yet aggressive off-road autonomy remains underserved. We seek to fill this gap by introducing HOUND, a 1/10th-scale, inexpensive, off-road autonomous car platform that can handle challenging outdoor terrains at high speeds. To aid development speed, we integrate HOUND with BeamNG, a state-of-the-art driving simulator to enable both software in the loop as well as hardware in the loop testing. To reduce the extent of ruggedization required, and thus cost, we integrate a rollover prevention system as a safety feature into the platform. Real-world trials over 50 kilometers demonstrate the platform's longevity and effectiveness over varied terrains and speeds. Build instructions, datasets, and code disseminated via: https://sites.google.com/view/prl-hound/home, Comment: 12 pages, 10 figures, accepted for Robotics: Science and Systems 2024

Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a learning-based approach that can precisely track arbitrary, potentially infeasible trajectories in the presence of large disturbances in the real world. DATT builds on a novel feedforward-feedback-adaptive control structure trained in simulation using reinforcement learning. When deployed on real hardware, DATT is augmented with a disturbance estimator using L1 adaptive control in closed-loop, without any fine-tuning. DATT significantly outperforms competitive adaptive nonlinear and model predictive controllers for both feasible smooth and infeasible trajectories in unsteady wind fields, including challenging scenarios where baselines completely fail. Moreover, DATT can efficiently run online with an inference time less than 3.2 ms, less than 1/4 of the adaptive nonlinear model predictive control baseline

A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly flexible and general but often results in brittle policies. In contrast, model predictive control (MPC) continually re-plans at each time step to remain robust to perturbations and model inaccuracies. However, despite its real-world successes, MPC often under-performs the optimal strategy. This is due to model quality, myopic behavior from short planning horizons, and approximations due to computational constraints. And even with a perfect model and enough compute, MPC can get stuck in bad local optima, depending heavily on the quality of the optimization algorithm. To this end, we propose Deep Model Predictive Optimization (DMPO), which learns the inner-loop of an MPC optimization algorithm directly via experience, specifically tailored to the needs of the control problem. We evaluate DMPO on a real quadrotor agile trajectory tracking task, on which it improves performance over a baseline MPC algorithm for a given computational budget. It can outperform the best MPC algorithm by up to 27% with fewer samples and an end-to-end policy trained with MFRL by 19%. Moreover, because DMPO requires fewer samples, it can also achieve these benefits with 4.3X less memory. When we subject the quadrotor to turbulent wind fields with an attached drag plate, DMPO can adapt zero-shot while still outperforming all baselines. Additional results can be found at https://tinyurl.com/mr2ywmnw., Comment: Main paper is 6 pages with 4 figures and 1 table. Code available at: https://github.com/jisacks/dmpo

The true potential of human-AI collaboration lies in exploiting the complementary capabilities of humans and AI to achieve a joint performance superior to that of the individual AI or human, i.e., to achieve complementary team performance (CTP). To realize this complementarity potential, humans need to exercise discretion in following AI 's advice, i.e., appropriately relying on the AI's advice. While previous work has focused on building a mental model of the AI to assess AI recommendations, recent research has shown that the mental model alone cannot explain appropriate reliance. We hypothesize that, in addition to the mental model, human learning is a key mediator of appropriate reliance and, thus, CTP. In this study, we demonstrate the relationship between learning and appropriate reliance in an experiment with 100 participants. This work provides fundamental concepts for analyzing reliance and derives implications for the effective design of human-AI decision-making.

Complex interelement trends among magmatic IIIF iron meteorites are difficult to explain by fractional crystallization and have raised uncertainty about their genetic relationships. Nucleosynthetic Mo isotope anomalies provide a powerful tool to assess if individual IIIF irons are related to each other. However, while trace-element data are available for all nine IIIF irons, Mo isotopic data are limited to three samples. We present Mo isotopic data for all but one IIIF irons that help assess the genetic relationships among these irons, together with new Mo and W isotopic data for Fitzwater Pass (classified IIIF), and the Zinder pallasite (for which a cogenetic link with IIIF irons has been proposed). After correction for cosmic-ray exposure, the Mo isotopic compositions of the IIIF irons are identical within uncertainty and confirm their belonging to carbonaceous chondrite-type (CC) meteorites. The mean Mo isotopic composition of Group IIIF overlaps those Groups IIF and IID, but a common parent body for these groups is ruled out based on distinct trace element systematics. The new Mo isotopic data do not argue against a single parent body for the IIIF irons, and suggest a close genetic link among these samples. By contrast, Fitzwater Pass has distinct Mo and W isotopic compositions, identical to those of some non-magmatic IAB irons. The Mo and W isotope data for Zinder indicate that this meteorite is not related to IIIF irons, but belongs to the non-carbonaceous (NC) type and has the same Mo and W isotopic composition as main-group pallasites., Comment: Accepted for publication in Meteoritics & Planetary Science