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Charged black holes are known to suffer from an interior instability associated with the presence of the Cauchy horizon. Recently, a hairy charged black hole was proposed that avoids the formation of a Cauchy horizon. It is natural to question whether this instability might manifest in the exterior solution. In this paper, we have analyzed the stability of this black hole. Our results show that vector perturbations are stable, along with the scalar sector for $l=0$. We have also computed the corresponding quasinormal modes (QNMs) and quasibound states (QBSs). Among the six degrees of freedom identified, one exhibits a ghost-like behavior. However, this mode decouples from the other perturbations, rendering the associated instability irrelevant in the linear regime. Nonetheless, this feature could indicate a more significant issue in the nonlinear regime., Comment: 14 pages, 8 figures

We present the polarization spectra of the nucleus of 3C 270. We confirm that the polarization angle of both the continuum and the emission lines are close to perpendicular to the jet direction after careful correction of interstellar polarization, which indicates polar scattering. The Stokes flux spectrum resembles the total flux spectrum, with no need for a broad component from the Broad Line Region. Over 94% of the Seyfert I type broad line profile would be significantly detected if present in our polarized flux spectrum. We favor that we are mostly likely observing beamed synchrotron instead of Big Blue Bump, and the innermost Narrow Line Region through reflection. This makes 3C 270 the third known case, after NGC 4258 and Centaurus A, where only narrow lines (and beamed continuum, if present) are scattered, with no evidence of an underlying Big Blue Bump., Comment: The authors of this paper have not yet reached full consensus on certain aspects of the interpretation, but we want to emphasize that the data presented is completely accurate and reliable

Mobile apps are used in a variety of health settings, from apps that help providers, to apps designed for patients, to health and fitness apps designed for the general public. These apps ask the user for, and then collect and leak a wealth of Personal Information (PI). We analyze the PI that apps collect via their user interface, whether the app or third-party code is processing this information, and finally where the data is sent or stored. Prior work on leak detection in Android has focused on detecting leaks of (hardware) device-identifying information, or policy violations; however no work has looked at processing and leaking of PI in the context of health apps. The first challenge we tackle is extracting the semantic information contained in app UIs to discern the extent, and nature, of personal information. The second challenge we tackle is disambiguating between first-party, legitimate leaks (e.g,. the app storing data in its database) and third-party, problematic leaks, e.g., processing this information by, or sending it to, advertisers and analytics. We conducted a study on 1,243 Android apps: 623 medical apps and 621 health&fitness apps. We categorize PI into 16 types, grouped in 3 main categories: identity, medical, anthropometric. We found that the typical app has one first-party leak and five third-party leaks, though 221 apps had 20 or more leaks. Next, we show that third-party leaks (e.g., advertisers, analytics) are 5x more frequent than first-party leaks. Then, we show that 71% of leaks are to local storage (i.e., the phone, where data could be accessed by unauthorized apps) whereas 29% of leaks are to the network (e.g., Cloud). Finally, medical apps have 20% more PI leaks than health&fitness apps, due to collecting additional medical PI.

Directed graphical models such as Bayesian nets are often used to implement intelligent tutoring systems able to interact in real-time with learners in a purely automatic way. When coping with such models, keeping a bound on the number of parameters might be important for multiple reasons. First, as these models are typically based on expert knowledge, a huge number of parameters to elicit might discourage practitioners from adopting them. Moreover, the number of model parameters affects the complexity of the inferences, while a fast computation of the queries is needed for real-time feedback. We advocate logical gates with uncertainty for a compact parametrization of the conditional probability tables in the underlying Bayesian net used by tutoring systems. We discuss the semantics of the model parameters to elicit and the assumptions required to apply such approach in this domain. We also derive a dedicated inference scheme to speed up computations.

In modern and personalised education, there is a growing interest in developing learners' competencies and accurately assessing them. In a previous work, we proposed a procedure for deriving a learner model for automatic skill assessment from a task-specific competence rubric, thus simplifying the implementation of automated assessment tools. The previous approach, however, suffered two main limitations: (i) the ordering between competencies defined by the assessment rubric was only indirectly modelled; (ii) supplementary skills, not under assessment but necessary for accomplishing the task, were not included in the model. In this work, we address issue (i) by introducing dummy observed nodes, strictly enforcing the skills ordering without changing the network's structure. In contrast, for point (ii), we design a network with two layers of gates, one performing disjunctive operations by noisy-OR gates and the other conjunctive operations through logical ANDs. Such changes improve the model outcomes' coherence and the modelling tool's flexibility without compromising the model's compact parametrisation, interpretability and simple experts' elicitation. We used this approach to develop a learner model for Computational Thinking (CT) skills assessment. The CT-cube skills assessment framework and the Cross Array Task (CAT) are used to exemplify it and demonstrate its feasibility.

Consistent hashing is employed in distributed systems and networking applications to evenly and effectively distribute data across a cluster of nodes. This paper introduces BinomialHash, a consistent hashing algorithm that operates in constant time and requires minimal memory. We provide a detailed explanation of the algorithm, offer a pseudo-code implementation, and formally establish its strong theoretical guarantees.

Safe road crossing by autonomous wheelchairs can be affected by several environmental factors such as adverse weather conditions influencing the accuracy of artificial vision. Previous studies have addressed experimental evaluation of multi-sensor information fusion to support road-crossing decisions in autonomous wheelchairs. In this study, we focus on the fine-tuning of tracking performance and on its experimental evaluation against outdoor environmental factors such as fog, rain, darkness, etc. It is rather intuitive that those factors can negatively affect the tracking performance; therefore our aim is to provide an approach to quantify their effects in the reference scenario, in order to detect conditions of unacceptable accuracy. In those cases, warnings can be issued and system can be possibly reconfigured to reduce the reputation of less accurate sensors, and thus improve overall safety. Critical situations can be detected by the main sensors or by additional sensors, e.g., light sensors, rain sensors, etc. Results have been achieved by using an available laboratory dataset and by applying appropriate software filters; they show that the approach can be adopted to evaluate video tracking and event detection robustness against outdoor environmental factors in relevant operational scenarios., Comment: Submitted to the "27th IEEE International Conference on Intelligent Transportation Systems"

The fusion research facility ITER is currently being assembled to demonstrate that fusion can be used for industrial energy production, while several other programmes across the world are also moving forward, such as EU-DEMO, CFETR, SPARC and STEP. The high engineering complexity of a tokamak makes it an extremely challenging device to optimise, and test-based optimisation would be too slow and too costly. Instead, digital design and optimisation must be favored, which requires strongly-coupled suites of High-Performance Computing calculations. In this context, having surrogate models to provide quick estimates with uncertainty quantification is essential to explore and optimise new design options. Furthermore, these surrogates can in turn be used to accelerate simulations in the first place. This is the case of Parareal, a time-parallelisation method that can speed-up large HPC simulations, where the coarse-solver can be replaced by a surrogate. A novel framework, Neural-Parareal, is developed to integrate the training of neural operators dynamically as more data becomes available. For a given input-parameter domain, as more simulations are being run with Parareal, the large amount of data generated by the algorithm is used to train new surrogate models to be used as coarse-solvers for future Parareal simulations, leading to progressively more accurate coarse-solvers, and thus higher speed-up. It is found that such neural network surrogates can be much more effective than traditional coarse-solver in providing a speed-up with Parareal. This study is a demonstration of the convergence of HPC and AI which simply has to become common practice in the world of digital engineering design.

Safe road-crossing by self-driving vehicles is a crucial problem to address in smart-cities. In this paper, we introduce a multi-sensor fusion approach to support road-crossing decisions in a system composed by an autonomous wheelchair and a flying drone featuring a robust sensory system made of diverse and redundant components. To that aim, we designed an analytical danger function based on explainable physical conditions evaluated by single sensors, including those using machine learning and artificial vision. As a proof-of-concept, we provide an experimental evaluation in a laboratory environment, showing the advantages of using multiple sensors, which can improve decision accuracy and effectively support safety assessment. We made the dataset available to the scientific community for further experimentation. The work has been developed in the context of an European project named REXASI-PRO, which aims to develop trustworthy artificial intelligence for social navigation of people with reduced mobility., Comment: 14 pages, 8 figures

We characterise the likelihood function computed from a Bayesian network with latent variables as root nodes. We show that the marginal distribution over the remaining, manifest, variables also factorises as a Bayesian network, which we call empirical. A dataset of observations of the manifest variables allows us to quantify the parameters of the empirical Bayesian net. We prove that (i) the likelihood of such a dataset from the original Bayesian network is dominated by the global maximum of the likelihood from the empirical one; and that (ii) such a maximum is attained if and only if the parameters of the Bayesian network are consistent with those of the empirical model.

We evaluate the ability of large language models (LLMs) to infer causal relations from natural language. Compared to traditional natural language processing and deep learning techniques, LLMs show competitive performance in a benchmark of pairwise relations without needing (explicit) training samples. This motivates us to extend our approach to extrapolating causal graphs through iterated pairwise queries. We perform a preliminary analysis on a benchmark of biomedical abstracts with ground-truth causal graphs validated by experts. The results are promising and support the adoption of LLMs for such a crucial step in causal inference, especially in medical domains, where the amount of scientific text to analyse might be huge, and the causal statements are often implicit., Comment: XAI4Sci Workshop @ AAAI24

The prototypical powerful FR \Romannum{2} radio galaxy Cygnus A fits extremely well into the quasar/radio galaxy unified model: high polarization with an angle almost perpendicular to the radio jet and polarized flux showing broad permitted lines. It has been claimed that ionized gas in the torus reveals a very clear torus shape via Bremmstrahlung emission. We rule out the later with an energetic argument, and we constrain the molecular and atomic gas properties with existing observations. The atomic absorption against the core has been shown to match the X-ray column only if the spin temperature is an implausible $T_{\rm s} = 1\times 10^6$ K. This points to a molecular medium for the X-ray column $\log(N_{\rm H} ~[\rm{cm^{-2}}]) \sim 23.5$. Yet not low-J CO absorption is detected to sensitive limits. The non-detection is surprising given that this powerful radio galaxy hosts a luminous, dust-obscured active nucleus and copious warm molecular hydrogen. These conditions suggest a detectable level of emission. Furthermore, the torus X-ray column density suggests detectable absorption. We explore various possibilities to explain the lack of a signature from warm CO (200-250K). Specifically, that the radiative excitation by the radio core renders low-J CO absorption below current sensitivities, and that high-J levels are well populated and conducive to producing absorption. We test this hypothesis using archival \textit{Hershel}/SPIRE FTS observations of Cygnus A of high-J CO lines ($14 \geq J \geq 4$ transitions). Still high-J CO lines are not detected. We suggest that ALMA observations near its high frequency limit can be critical to obtain the signature of molecular line of the torus of Cygnus A.

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the robot controller should kick-in guiding them towards safer paths. Shared authority control is a way to achieve this behaviour by deciding online how much of the authority should be given to the human and how much should be retained by the robot. An open problem is how to evaluate the appropriateness of the human's choices. One possible way is to consider the deviation from an ideal path computed by the robot. This choice is certainly safe and efficient, but it emphasises the importance of the robot's decision and relegates the human to a secondary role. In this paper, we propose a different paradigm: a human's behaviour is correct if, at every time, it bears a close resemblance to what other humans do in similar situations. This idea is implemented through the combination of machine learning and adaptive control. The map of the environment is decomposed into a grid. In each cell, we classify the possible motions that the human executes. We use a neural network classifier to classify the current motion, and the probability score is used as a hyperparameter in the control to vary the amount of intervention. The experiments collected for the paper show the feasibility of the idea. A qualitative evaluation, done by surveying the users after they have tested the robot, shows that the participants preferred our control method over a state-of-the-art visco-elastic control., Comment: 14 pages, 10 figures. To be published in Intelligent Service Robotics

We discuss the problem of bounding partially identifiable queries, such as counterfactuals, in Pearlian structural causal models. A recently proposed iterated EM scheme yields an inner approximation of those bounds by sampling the initialisation parameters. Such a method requires multiple (Bayesian network) queries over models sharing the same structural equations and topology, but different exogenous probabilities. This setup makes a compilation of the underlying model to an arithmetic circuit advantageous, thus inducing a sizeable inferential speed-up. We show how a single symbolic knowledge compilation allows us to obtain the circuit structure with symbolic parameters to be replaced by their actual values when computing the different queries. We also discuss parallelisation techniques to further speed up the bound computation. Experiments against standard Bayesian network inference show clear computational advantages with up to an order of magnitude of speed-up.

The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and filtered information, stochasticity, incomplete knowledge about mission targets) and the nonlinear flight dynamics pose significant challenges for accurate air combat decision-making. These challenges are exacerbated when multiple heterogeneous agents are involved. We propose a hierarchical multi-agent reinforcement learning framework for air-to-air combat with multiple heterogeneous agents. In our framework, the decision-making process is divided into two stages of abstraction, where heterogeneous low-level policies control the action of individual units, and a high-level commander policy issues macro commands given the overall mission targets. Low-level policies are trained for accurate unit combat control. Their training is organized in a learning curriculum with increasingly complex training scenarios and league-based self-play. The commander policy is trained on mission targets given pre-trained low-level policies. The empirical validation advocates the advantages of our design choices., Comment: 22nd International Conference on Machine Learning and Applications (ICMLA 23)

Some key issues in AGN and galaxy formation are discussed. Very successful Unified Models explain much of the variety of AGN with orientation effects; ingredients are shadowing by a dusty "torus" and relativistic beaming. A spinoff result is described which is important for the formation of massive elliptical galaxies. It's the most spectacular and unequivocal AGN feedback phenomenon known. This is the so-called "alignment effect" in powerful radio galaxies at z>~1. One of them is a BAL radio galaxy! I explain a very robust derivation of the reddening law for nuclear dust, which reveals a dearth of small grains. Then the quasistatic thin accretion disk model, thought by many to explain the energetically dominant optical/UV continuum, is thoroughly debunked. Much of this was known when the model was proposed 35 years ago. A new argument is given that trivially falsifies a huge superset of such models. It's possible to see the central engine spectrum with the atomic and dust emission surgically removed! Few noticed this breakthrough work. The far IR dust emission in Cygnus A is 10% polarized, and so far high nuclear dust polarization is seen in all radio loud objects, but no radio quiet ones., Comment: 24 pages, 6 figures

We address the problem of integrating data from multiple, possibly biased, observational and interventional studies, to eventually compute counterfactuals in structural causal models. We start from the case of a single observational dataset affected by a selection bias. We show that the likelihood of the available data has no local maxima. This enables us to use the causal expectation-maximisation scheme to approximate the bounds for partially identifiable counterfactual queries, which are the focus of this paper. We then show how the same approach can address the general case of multiple datasets, no matter whether interventional or observational, biased or unbiased, by remapping it into the former one via graphical transformations. Systematic numerical experiments and a case study on palliative care show the effectiveness of our approach, while hinting at the benefits of fusing heterogeneous data sources to get informative outcomes in case of partial identifiability.

Context. Galactic cosmic rays (GCRs) and solar particles with energies greater than tens of MeV penetrate spacecraft and instruments hosted aboard space missions. The Solar Orbiter Metis coronagraph is aimed at observing the solar corona in both visible (VL) and ultraviolet (UV) light. Particle tracks are observed in the Metis images of the corona. An algorithm has been implemented in the Metis processing electronics to detect the VL image pixels crossed by cosmic rays. This algorithm was initially enabled for the VL instrument only, since the process of separating the particle tracks in the UV images has proven to be very challenging. Aims. We study the impact of the overall bulk of particles of galactic and solar origin on the Metis coronagraph images. We discuss the effects of the increasing solar activity after the Solar Orbiter mission launch on the secondary particle production in the spacecraft. Methods. We compared Monte Carlo simulations of GCRs crossing or interacting in the Metis VL CMOS sensor to observations gathered in 2020 and 2022. We also evaluated the impact of solar energetic particle events of different intensities on the Metis images. Results. The study of the role of abundant and rare cosmic rays in firing pixels in the Metis VL images of the corona allows us to estimate the efficiency of the algorithm applied for cosmic-ray track removal from the images and to demonstrate that the instrument performance had remained unchanged during the first two years of the Solar Orbiter operations. The outcome of this work can be used to estimate the Solar Orbiter instrument's deep charging and the order of magnitude for energetic particles crossing the images of Metis and other instruments such as STIX and EUI., Comment: 8 pages, 6 figures

We assume to be given structural equations over discrete variables inducing a directed acyclic graph, namely, a structural causal model, together with data about its internal nodes. The question we want to answer is how we can compute bounds for partially identifiable counterfactual queries from such an input. We start by giving a map from structural casual models to credal networks. This allows us to compute exact counterfactual bounds via algorithms for credal nets on a subclass of structural causal models. Exact computation is going to be inefficient in general given that, as we show, causal inference is NP-hard even on polytrees. We target then approximate bounds via a causal EM scheme. We evaluate their accuracy by providing credible intervals on the quality of the approximation; we show through a synthetic benchmark that the EM scheme delivers accurate results in a fair number of runs. In the course of the discussion, we also point out what seems to be a neglected limitation to the trending idea that counterfactual bounds can be computed without knowledge of the structural equations. We also present a real case study on palliative care to show how our algorithms can readily be used for practical purposes.

Consistent hashing is used in distributed systems and networking applications to spread data evenly and efficiently across a cluster of nodes. In this paper, we present MementoHash, a novel consistent hashing algorithm that eliminates known limitations of state-of-the-art algorithms while keeping optimal performance and minimal memory usage. We describe the algorithm in detail, provide a pseudo-code implementation, and formally establish its solid theoretical guarantees. To measure the efficacy of MementoHash, we compare its performance, in terms of memory usage and lookup time, to that of state-of-the-art algorithms, namely, AnchorHash, DxHash, and JumpHash. Unlike JumpHash, MementoHash can handle random failures. Moreover, MementoHash does not require fixing the overall capacity of the cluster (as AnchorHash and DxHash do), allowing it to scale indefinitely. The number of removed nodes affects the performance of all the considered algorithms. Therefore, we conduct experiments considering three different scenarios: stable (no removed nodes), one-shot removals (90% of the nodes removed at once), and incremental removals. We report experimental results that averaged a varying number of nodes from ten to one million. Results indicate that our algorithm shows optimal lookup performance and minimal memory usage in its best-case scenario. It behaves better than AnchorHash and DxHash in its average-case scenario and at least as well as those two algorithms in its worst-case scenario. However, the worst-case scenario for MementoHash occurs when more than 70% of the nodes fail, which describes a unlikely scenario. Therefore, MementoHash shows the best performance during the regular life cycle of a cluster.