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When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments with stochastic outcomes. Enhancing transparency in the robot's behavior and aligning with user preferences are also crucial. This paper introduces a novel framework for multi-objective reinforcement learning that ensures safe task execution, optimizes trade-offs between objectives, and adheres to user preferences. The framework has two main layers: a multi-objective task planner and a high-level selector. The planning layer generates a set of optimal trade-off plans that guarantee satisfaction of a temporal logic task. The selector uses active inference to decide which generated plan best complies with user preferences and aids learning. Operating iteratively, the framework updates a parameterized learning model based on collected data. Case studies and benchmarks on both manipulation and mobile robots show that our framework outperforms other methods and (i) learns multiple optimal trade-offs, (ii) adheres to a user preference, and (iii) allows the user to adjust the balance between (i) and (ii)., Comment: 17 pages, 10 figures, submitted to IEEE Transactions on Robotics journal

Considered the increasing use of assistive technologies in the shape of virtual agents, it is necessary to investigate those factors which characterize and affect the interaction between the user and the agent, among these emerges the way in which people interpret and decode synthetic emotions, i.e., emotional expressions conveyed by virtual agents. For these reasons, an article is proposed, which involved 278 participants split in differently aged groups (young, middle-aged, and elders). Within each age group, some participants were administered a naturalistic decoding task, a recognition task of human emotional faces, while others were administered a synthetic decoding task, namely emotional expressions conveyed by virtual agents. Participants were required to label pictures of female and male humans or virtual agents of different ages (young, middle-aged, and old) displaying static expressions of disgust, anger, sadness, fear, happiness, surprise, and neutrality. Results showed that young participants showed better recognition performances (compared to older groups) of anger, sadness, and neutrality, while female participants showed better recognition performances(compared to males) ofsadness, fear, and neutrality; sadness and fear were better recognized when conveyed by real human faces, while happiness, surprise, and neutrality were better recognized when represented by virtual agents. Young faces were better decoded when expressing anger and surprise, middle-aged faces were better decoded when expressing sadness, fear, and happiness , while old faces were better decoded in the case of disgust; on average, female faces where better decoded compared to male ones.

A procedure for quantifying the U $5f$ electrons' covalence and degree of localization in U intermetallic compounds is presented. To this end, bulk sensitive hard and soft x-ray photoelectron spectroscopy were utilized in combination with density-functional theory (DFT) plus dynamical mean-field theory (DMFT) calculations. The energy dependence of the photoionization cross-sections allows the disentanglement of the U\,$5f$ contribution to the valence band from the various other atomic subshells so that the computational parameters in the DFT\,+\,DMFT can be reliably determined. Applying this method to UGa$_2$ and UB$_2$ as model compounds from opposite ends of the (de)localization range, we have achieved excellent simulations of the valence band and core-level spectra. The width in the distribution of atomic U\,$5f$ configurations contributing to the ground state, as obtained from the calculations, quantifies the correlated nature and degree of localization of the U\,5$f$. The findings permit answering the longstanding question why different spectroscopic techniques give seemingly different numbers for the U 5$f$ valence in intermetallic U compounds., Comment: 14 pages, 9 figures

The EMPATHIC project aimed to design an emotionally expressive virtual coach capable of engaging healthy seniors to improve well-being and promote independent aging. One of the core aspects of the system is its human sensing capabilities, allowing for the perception of emotional states to provide a personalized experience. This paper outlines the development of the emotion expression recognition module of the virtual coach, encompassing data collection, annotation design, and a first methodological approach, all tailored to the project requirements. With the latter, we investigate the role of various modalities, individually and combined, for discrete emotion expression recognition in this context: speech from audio, and facial expressions, gaze, and head dynamics from video. The collected corpus includes users from Spain, France, and Norway, and was annotated separately for the audio and video channels with distinct emotional labels, allowing for a performance comparison across cultures and label types. Results confirm the informative power of the modalities studied for the emotional categories considered, with multimodal methods generally outperforming others (around 68% accuracy with audio labels and 72-74% with video labels). The findings are expected to contribute to the limited literature on emotion recognition applied to older adults in conversational human-machine interaction., Comment: This work has been submitted to the IEEE for possible publication

The application of pressure as well as the successive substitution of Ru with Fe in the hidden order (HO) compound URu$_2$Si$_2$ leads to the formation of the large moment antiferromagnetic phase (LMAFM). Here we have investigated the substitution series URu$_{2-x}$Fe$_x$Si$_2$ from $x$\,=\,0.0 to 2.0 by U\,4$f$ core-level photoelectron spectroscopy and have observed non-monotonic changes in the spectra. The initial increase and subsequent decrease of the spectral weight of the 4$f$ core level satellite with increasing $x$ stands for a non-monotonic 5$f$ filling across the substitution series. The competition of chemical pressure and increase of the density of states at the Fermi energy, both due to substitution of Ru with Fe, can explain such a behavior. An extended Doniach phase diagram including the $x$ dependence of the density of states is proposed. Also in URu$_{2-x}$Fe$_x$Si$_2$ the ground state is a singlet or quasi-doublet state consisting of two singlets. Hence, the formation of magnetic order in the URu$_{2-x}$Fe$_x$Si$_2$ substitution series must be explained within a singlet magnetism model., Comment: 10 pages, 7 figures

Using high resolution tender-x-ray resonant inelastic scattering and hard-x-ray non-resonant inelastic scattering beyond the dipole limit we were able to detect electronic excitations in intermetallic UGa$_2$ that are highly atomic in nature. Analysis of the spectral lineshape reveals that the local $5f^2$ configuration characterizes the correlated nature of this ferromagnet. The orientation and directional dependence of the spectra indicate that the ground state is made of the $\Gamma_1$ singlet and/or $\Gamma_6$ doublet symmetry. With the ordered moment in the $ab$ plane, we infer that the magnetism originates from the higher lying $\Gamma_6$ doublet being mixed with the $\Gamma_1$ singlet due to inter-site exchange, qualifying UGa$_2$ to be a true quantum magnet. The ability to observe atomic excitations is crucial to resolve the on-going debate about the degree of localization versus itineracy in U intermetallics., Comment: 9 pages, 7 figures

Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given tasks, but it is often in conflict with optimal execution. Recent work studies preference-based planning, however, they have yet to extend the notion of preference to the behavior of the robot with respect to each task. In this work, we introduce a novel notion of preference that provides a generalized framework to express preferences over individual tasks as well as their relations. Then, we perform an optimal trade-off (Pareto) analysis between behaviors that adhere to the user's preference and the ones that are resource optimal. We introduce an efficient planning framework that generates Pareto-optimal plans given user's preference by extending A* search. Further, we show a method of computing the entire Pareto front (the set of all optimal trade-offs) via an adaptation of a multi-objective A* algorithm. We also present a problem-agnostic search heuristic to enable scalability. We illustrate the power of the framework on both mobile robots and manipulators. Our benchmarks show the effectiveness of the heuristic with up to 2-orders of magnitude speedup., Comment: 8 pages, 4 figures, to appear in International Conference on Intelligent Robots and Systems (IROS) 2023

We investigated the electronic structure of the enigmatic CeRh$_3$B$_2$ using resonant inelastic scattering and x-ray absorption spectroscopy in combination with $ab$ $initio$ density functional calculations. We find that the Rh 4$d$ states are irrelevant for the high-temperature ferromagnetism and the Kondo effect. We also find that the Ce 4$f$ crystal-field strength is too small to explain the strong reduction of the Ce magnetic moment. The data reveal instead the presence of two different active Ce 4$f$ orbitals, with each coupling selectively to different bands in CeRh$_3$B$_2$. The inter-site hybridization of the |J=5/2,Jz=+/-1/2> crystal-field state and Ce 5$d$ band combined with the intra-site Ce 4$f$-5$d$ exchange creates the strong ferromagnetism, while hybridization between the |J=5/2,Jz=+/-5/2> and the B $sp$ in the $ab$-plane contributes to the Kondo interaction which causes the moment reduction. This orbital selective coupling explains the unique and seemingly contradictory properties of CeRh$_3$B$_2$., Comment: 15 pages, 14 figures

The present study aims to explore user acceptance and perceptions toward different quality levels of synthetical voices. To achieve this, four voices have been exploited considering two main factors: the quality of the voices (low vs high) and their gender (male and female). 186 volunteers were recruited and subsequently allocated into four groups of different ages respec-tively, adolescents, young adults, middle-aged and seniors. After having randomly listened to each voice, participants were asked to fill the Virtual Agent Voice Acceptance Questionnaire (VAVAQ). Outcomes show that the two higher quality voices of Antonio and Giulia were more appreciated than the low-quality voices of Edoardo and Clara by the whole sample in terms of pragmatic, hedonic and attractiveness qualities attributed to the voices. Concerning preferences towards differently aged voices, it clearly appeared that they varied according to participants age' ranges examined. Furthermore, in terms of suitability to perform different tasks, participants considered Antonio and Giulia equally adapt for healthcare and front office jobs. Antonio was also judged to be significantly more qualified to accomplish protection and security tasks, while Edoardo was classified as the absolute least skilled in conducting household chores.

As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require collaboration with humans. Prior works approach this problem through reactive synthesis and generate strategies for the robot that guarantee task completion by assuming an adversarial human. While this assumption gives a sound solution, it leads to an "unfriendly" robot that is agnostic to the human intentions. We relax this assumption by formulating the problem using the notion of regret. We identify an appropriate definition for regret and develop regret-minimizing synthesis framework that enables the robot to seek cooperation when possible while preserving task completion guarantees. We illustrate the efficacy of our framework via various case studies., Comment: To appear in IEEE International Conference on Robotics and Automation (ICRA), May. 2022

CeRh$_3$Si$_2$ has been reported to exhibit metamagnetic transitions below 5~K, a giant crystal field splitting, and anisotropic magnetic properties from single crystal magnetization and heat capacity measurements. Here we report results of neutron and x-ray scattering studies of the magnetic structure and crystal-field excitations to further understand the magnetism of this compound. Inelastic neutron scattering (INS) and resonant inelastic x-ray scattering (RIXS) reveal a $J_z$\,=\,1/2 groundstate for Ce when considering the crystallographic $a$ direction as quantization axis, thus explaining the anisotropy of the static susceptibility. Furthermore, we find a total splitting of 78\,meV for the $J$\,=\,5/2 multiplet. The neutron diffraction study in zero field reveals that on cooling from the paramagnetic state, the system first orders at $T_{\text{N}_1}=4.7$\,K in a longitudinal spin density wave with ordered Ce moments along the $b$-axis (i.e. the [0 1 0] crystal direction) and an incommensurate propagation vector $\textbf{k}=(0,0.43,0$). Below the lower-temperature transition $T_{\text{N}_2}=4.48$\,K, the propagation vector locks to the commensurate value $\textbf{k}=(0,0.5,0)$, with a so-called lock-in transition. Our neutron diffraction study in applied magnetic field $H\parallel b$-axis shows a change in the commensurate propagation vector and development of a ferromagnetic component at $H=3$\,kOe, followed by a series of transitions before the fully field-induced ferromagnetic phase is reached at $H = 7$\,kOe. This explains the nature of the steps previously reported in field-dependent magnetization measurements. A very similar behaviour is also observed for the $H\parallel$ [0 1 1] crystal direction., Comment: 26 pages, 16 figures

This paper reports on a study conducted as part of the EU EMPATHIC project, whose goal is to develop an empathic virtual coach capable of enhancing seniors' well-being, focusing on user requirements and expectations with respect to participants' age and technology experiences (i.e. participants' familiarity with technological devices such as smartphones, laptops, and tablets). The data shows that seniors' favorite technological device is the smartphone, and this device was also the one that scored the highest in terms of easiness to use. We found statistically significant differences on the preferences expressed by seniors toward the gender of the agents. Seniors (independently from their gender) prefer to interact with female humanoid agents on both the pragmatic and hedonic dimensions of an interactive system and are more in favor to commit themselves in a long-lasting interaction with them. In addition, we found statistically significant effects of the seniors' technology savviness on the hedonic qualities of the proposed interactive systems. Seniors with technological experience felt less motivated and judged the proposed agents less captivating, exciting, and appealing., Comment: 14 pages

The crystal-field ground state wave function of CeCu$_2$Si$_2$ has been investigated with linear polarized $M$-edge x-ray absorption spectroscopy from 250mK to 250K, thus covering the superconducting ($T_{\text{c}}$=0.6K), the Kondo ($T_{\text{K}}$$\approx$20K) as well as the Curie-Weiss regime. The comparison with full-multiplet calculations shows that the temperature dependence of the experimental linear dichroism is well explained with a $\Gamma_7^{(1)}$ crystal-field ground-state and the thermal population of excited states at around 30meV. The crystal-field scheme does not change throughout the entire temperature range thus making the scenario of orbital switching unlikely. Spectroscopic evidence for the presence of the Ce 4$f^0$ configuration in the ground state is consistent with the possibility for a multi-orbital character of the ground state. We estimate from the Kondo temperature and crystal-field splitting energies that several percents of the higher lying $\Gamma_6$ state and $\Gamma_7^{(2)}$ crystal-field states are mixed into the primarily $\Gamma_7^{(1)}$ ground state. This estimate is also supported by re-normalized band-structure calculations that uses the experimentally determined crystal-field scheme., Comment: 8 pages, 5 figures

We used resonant elastic x-ray scattering at the Cu $L_3$ and Dy $M_5$ edges to investigate charge order in thin films of underdoped DyBa$_2$Cu$_3$O$_{6+x}$ (DyBCO) epitaxially grown on NdGaO$_3$ (110) substrates. The films show an orthorhombic crystal structure with short-range ortho-II oxygen order in the charge-reservoir layers. At the Dy $M_5$ edge we observe diffraction peaks with the same planar wavevectors as those of the two-dimensional charge density wave in the CuO$_2$ planes and of the ortho-II oxygen order, indicating the formation of induced ordered states on the rare-earth sublattice. The intensity of the resonant diffraction peaks exhibits a non-monotonic dependence on an external magnetic field. Model calculations on the modulation of the crystalline electric field at the Dy sites by charge and oxygen order capture the salient features of the magnetic field, temperature, and photon energy dependence of the scattering intensity., Comment: 9 pages, 10 figures

The application of pressure as well as the successive substitution of Ru with Fe in the hidden order (HO) compound URu$_2$Si$_2$ leads to the formation of the large moment antiferromagnetic phase (LMAFM). Here we have investigated the substitution series URu$_{2-x}$Fe$_x$Si$_2$ with $x$ = 0.2 and 0.3 with non-resonant inelastic x-ray scattering (NIXS) and 4$f$ core-level photoelectron spectroscopy with hard x-rays (HAXPES). NIXS shows that the substitution of Fe has no impact on the symmetry of the ground-state wave function. In HAXPES we find no shift of spectral weight that would be indicative for a change of the 5$f$-electron count. Consequently, changes in the exchange interaction $\cal{J}$ due to substitution must be minor so that the conjecture of chemical pressure seems unlikely. An alternative scenario is discussed, namely the formation of long range magnetic order due the substitution induced local enhancement of the magnetization in the vicinity of the $f$-electron ions while the overall electronic structure remains unchanged., Comment: 6 pages, 3 figures

Using inelastic x-ray scattering beyond the dipole limit and hard x-ray photoelectron spectroscopy we establish the dual nature of the U $5f$ electrons in UM$_2$Si$_2$ (M = Pd, Ni, Ru, Fe), regardless of their degree of delocalization. We have observed that the compounds have in common a local atomic-like state that is well described by the U $5f^2$ configuration with the $\Gamma_1^{(1)}$ and $\Gamma_2$ quasi-doublet symmetry. The amount of the U 5$f^3$ configuration, however, varies considerably across the UM$_2$Si$_2$ series, indicating an increase of U5$f$ itineracy in going from M=Pd to Ni to Ru, and to the Fe compound. The identified electronic states explain the formation of the very large ordered magnetic moments in UPd$_2$Si$_2$ and UNi$_2$Si$_2$, the availability of orbital degrees of freedom needed for the hidden order in URu$_2$Si$_2$ to occur, as well as the appearance of Pauli paramagnetism in UFe$_2$Si$_2$. A unified and systematic picture of the U$M_2$Si$_2$ compounds may now be drawn, thereby providing suggestions for new experiments to induce hidden order and/or superconductivity in U compounds with the tetragonal body-centered ThCr$_2$Si$_2$ structure.

The one-dimensional cobaltate Ca3Co2O6 is an intriguing material having an unconventional magnetic structure, displaying quantum tunneling phenomena in its magnetization. Using a newly developed experimental method, s-core-level non-resonant inelastic x-ray scattering (s-NIXS), we were able to image the atomic Co 3d orbital that is responsible for the Ising magnetism in this system. We show that we can directly observe that it is the complex d2 orbital occupied by the sixth electron at the high-spin Co-trig{3+} (d6) sites that generates this behavior. This is extremely rare in the research field of transition metal compounds, and is only made possible by the delicately balanced prismatic trigonal coordination. The ability to directly relate the orbital occupation with the local crystal structure is essential to model the magnetic properties of this system.

The spectacular physical properties of quantum materials based on transition metal, rare earth, and actinide elements continue to challenge our comprehension of solid state physics and chemistry. The electronic states of these materials are dominated by the $d$ and $f$ wave functions intertwined with the strong band formation of the solid. In order to estimate which wave functions contribute to the ground state formation, we have had to rely, until now, on theoretical calculations combined with spectroscopy. Here we show that $s$-core-level non-resonant inelastic x-ray scattering ($s$-NIXS) can directly image the active orbital in real space, without the necessity of any modeling. The power and accuracy of this new technique is shown using the text-book example, x$^2$-y$^2$/3$z^2$-r$^2$ orbital of the Ni$^{2+}$ ion in NiO single crystal., Comment: 6 pages, 4 figures

We present core level non-resonant inelastic x-ray scattering (NIXS) data of the heavy fermion compounds CeCoIn$_5$ and CeRhIn$_5$ measured at the Ce $N_{4,5}$-edges. The higher than dipole transitions in NIXS allow determining the orientation of the $\Gamma_7$ crystal-field ground-state orbital within the unit cell. The crystal-field parameters of the Ce$M$In$_5$ compounds and related substitution phase diagrams have been investigated in great detail in the past; however, whether the ground-state wavefunction is the $\Gamma_7^+$ ($x^2\,-\,y^2$) or $\Gamma_7^-$ ($xy$ orientation) remained undetermined. We show that the $\Gamma_7^-$ doublet with lobes along the (110) direction forms the ground state in CeCoIn$_5$ and CeRhIn$_5$. For CeCoIn$_5$, however, we find also some contribution of the first excited state crystal-field state in the ground state due to the stronger hybridization of 4$f$ and conduction electrons, suggesting a smaller $\alpha^2$ value than originally anticipated from x-ray absorption. A comparison is made to the results of existing density functional theory plus dynamical mean-field theory calculations., Comment: 6 pages, 4 figures

The crystal-field (CF) splitting of the $^6H_{5/2}$ Hund's rule ground state of Sm$^{3+}$ in the strongly correlated topological insulator SmB$_6$ has been determined with high resolution resonant inelastic x-ray scattering (RIXS) at the Sm M$_5$ edge. The valence selectivity of RIXS allows isolating the crystal-field-split excited multiplets of the Sm$^{3+}$ (4$f^5$) configuration from those of Sm$^{2+}$ (4$f^6$) in intermediate valent SmB$_6$. The very large energy range of RIXS allows the crystal-field analysis of a high lying multiplet at about 2.4\,eV that has the same total angular momentum $J$ as the ground state so that ambiguities due to the elastic tail can be avoided. We find that the $\Gamma_7$ doublet and $\Gamma_8$ quartet of the $^6H_{5/2}$ Hund's rule ground state are split by $\Delta^{CF}_{^6H_{5/2}}$\,=\,20$\pm$10\,meV which sets an upper limit for the 4$f$ band width. This indicates an extremely large mass renormalization from the band structure value, pointing out the need to consider the coefficients of fractional parentage for the hopping of the 4$f$ electrons., Comment: 8 pages, 6 figures