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Connected Autonomous Vehicles have great potential to improve automobile safety and traffic flow, especially in cooperative applications where perception data is shared between vehicles. However, this cooperation must be secured from malicious intent and unintentional errors that could cause accidents. Previous works typically address singular security or reliability issues for cooperative driving in specific scenarios rather than the set of errors together. In this paper, we propose CONClave, a tightly coupled authentication, consensus, and trust scoring mechanism that provides comprehensive security and reliability for cooperative perception in autonomous vehicles. CONClave benefits from the pipelined nature of the steps such that faults can be detected significantly faster and with less compute. Overall, CONClave shows huge promise in preventing security flaws, detecting even relatively minor sensing faults, and increasing the robustness and accuracy of cooperative perception in CAVs while adding minimal overhead., Comment: 6 pages, 6 figures, Design Automation Conference June 2024

Advancements in artificial intelligence have driven the development of numerous pathology foundation models capable of extracting clinically relevant information. However, there is currently limited literature independently evaluating these foundation models on truly external cohorts and clinically-relevant tasks to uncover adjustments for future improvements. In this study, we benchmarked ten histopathology foundation models on 13 patient cohorts with 6,791 patients and 9,493 slides from lung, colorectal, gastric, and breast cancers. The models were evaluated on weakly-supervised tasks related to biomarkers, morphological properties, and prognostic outcomes. We show that a vision-language foundation model, CONCH, yielded the highest performance in 42% of tasks when compared to vision-only foundation models. The experiments reveal that foundation models trained on distinct cohorts learn complementary features to predict the same label, and can be fused to outperform the current state of the art. Creating an ensemble of complementary foundation models outperformed CONCH in 66% of tasks. Moreover, our findings suggest that data diversity outweighs data volume for foundation models. Our work highlights actionable adjustments to improve pathology foundation models.

Stroke remains a leading cause of global morbidity and mortality, placing a heavy socioeconomic burden. Over the past decade, advances in endovascular reperfusion therapy and the use of CT and MRI imaging for treatment guidance have significantly improved patient outcomes and are now standard in clinical practice. To develop machine learning algorithms that can extract meaningful and reproducible models of brain function for both clinical and research purposes from stroke images - particularly for lesion identification, brain health quantification, and prognosis - large, diverse, and well-annotated public datasets are essential. While only a few datasets with (sub-)acute stroke data were previously available, several large, high-quality datasets have recently been made publicly accessible. However, these existing datasets include only MRI data. In contrast, our dataset is the first to offer comprehensive longitudinal stroke data, including acute CT imaging with angiography and perfusion, follow-up MRI at 2-9 days, as well as acute and longitudinal clinical data up to a three-month outcome. The dataset includes a training dataset of n = 150 and a test dataset of n = 100 scans. Training data is publicly available, while test data will be used exclusively for model validation. We are making this dataset available as part of the 2024 edition of the Ischemic Stroke Lesion Segmentation (ISLES) challenge (https://www.isles-challenge.org/), which continuously aims to establish benchmark methods for acute and sub-acute ischemic stroke lesion segmentation, aiding in creating open stroke imaging datasets and evaluating cutting-edge image processing algorithms.

The projected sensitivity of the effective electron neutrino-mass measurement with the KATRIN experiment is below 0.3 eV (90 % CL) after five years of data acquisition. The sensitivity is affected by the increased rate of the background electrons from KATRIN's main spectrometer. A special shifted-analysing-plane (SAP) configuration was developed to reduce this background by a factor of two. The complex layout of electromagnetic fields in the SAP configuration requires a robust method of estimating these fields. We present in this paper a dedicated calibration measurement of the fields using conversion electrons of gaseous $^\mathrm{83m}$Kr, which enables the neutrino-mass measurements in the SAP configuration., Comment: 19 pages, 11 figures

AI assistants are being increasingly used by students enrolled in higher education institutions. While these tools provide opportunities for improved teaching and education, they also pose significant challenges for assessment and learning outcomes. We conceptualize these challenges through the lens of vulnerability, the potential for university assessments and learning outcomes to be impacted by student use of generative AI. We investigate the potential scale of this vulnerability by measuring the degree to which AI assistants can complete assessment questions in standard university-level STEM courses. Specifically, we compile a novel dataset of textual assessment questions from 50 courses at EPFL and evaluate whether two AI assistants, GPT-3.5 and GPT-4 can adequately answer these questions. We use eight prompting strategies to produce responses and find that GPT-4 answers an average of 65.8% of questions correctly, and can even produce the correct answer across at least one prompting strategy for 85.1% of questions. When grouping courses in our dataset by degree program, these systems already pass non-project assessments of large numbers of core courses in various degree programs, posing risks to higher education accreditation that will be amplified as these models improve. Our results call for revising program-level assessment design in higher education in light of advances in generative AI., Comment: 20 pages, 8 figures

Many socio-economical critical domains (such as sustainability, public health, and disasters) are characterized by highly complex and dynamic systems, requiring data and model-driven simulations to support decision-making. Due to a large number of unknowns, decision-makers usually need to generate ensembles of stochastic scenarios, requiring hundreds or thousands of individual simulation instances, each with different parameter settings corresponding to distinct scenarios, As the number of model parameters increases, the number of potential timelines one can simulate increases exponentially. Consequently, simulation ensembles are inherently sparse, even when they are extremely large. This necessitates a platform for (a) deciding which simulation instances to execute and (b) given a large simulation ensemble, enabling decision-makers to explore the resulting alternative timelines, by extracting and visualizing consistent, yet diverse timelines from continuous-coupled simulation ensembles. In this article, we present DataStorm-EM platform for data- and model-driven simulation ensemble management, optimization, analysis, and exploration, describe underlying challenges and present our solution.

We provide a comprehensive analysis of simple transformer models trained on the histogram task, where the goal is to count the occurrences of each item in the input sequence from a fixed alphabet. Despite its apparent simplicity, this task exhibits a rich phenomenology that allows us to characterize how different architectural components contribute towards the emergence of distinct algorithmic solutions. In particular, we showcase the existence of two qualitatively different mechanisms that implement a solution, relation- and inventory-based counting. Which solution a model can implement depends non-trivially on the precise choice of the attention mechanism, activation function, memorization capacity and the presence of a beginning-of-sequence token. By introspecting learned models on the counting task, we find evidence for the formation of both mechanisms. From a broader perspective, our analysis offers a framework to understand how the interaction of different architectural components of transformer models shapes diverse algorithmic solutions and approximations., Comment: 31 pages, Accepted at Mechanistic Interpretability Workshop, ICML 2024

Building off of many recent advances in the subject by many different researchers, we describe a picture of A-equivariant chromatic homotopy theory which mirrors the now classical non-equivariant picture of Morava, Miller-Ravenel-Wilson, and Devinatz-Hopkins-Smith, where A is a finite abelian p-group. Specifically, we review the structure of the Balmer spectrum of the category of A-spectra, and the work of Hausmann-Meier connecting this to MU_A and equivariant formal group laws. Generalizing work of Bhattacharya-Guillou-Li, we introduce equivariant analogs of v_n-self maps, and generalizing work of Carrick and Balderrama, we introduce equivariant analogs of the chromatic tower, and give equivariant analogs of the smash product and chromatic convergence theorems. The equivariant monochromatic theory is also discussed. We explore computational examples of this theory in the case of A = C_2, where we connect equivariant chromatic theory with redshift phenomena in Mahowald invariants., Comment: 67 pages. v2 adds Defn 6.33, corrects Proposition 6.34, fixing an error pointed out by Shangji Zhang

The fact that neutrinos carry a non-vanishing rest mass is evidence of physics beyond the Standard Model of elementary particles. Their absolute mass bears important relevance from particle physics to cosmology. In this work, we report on the search for the effective electron antineutrino mass with the KATRIN experiment. KATRIN performs precision spectroscopy of the tritium $\beta$-decay close to the kinematic endpoint. Based on the first five neutrino-mass measurement campaigns, we derive a best-fit value of $m_\nu^{2} = {-0.14^{+0.13}_{-0.15}}~\mathrm{eV^2}$, resulting in an upper limit of $m_\nu < {0.45}~\mathrm{eV}$ at 90 % confidence level. With six times the statistics of previous data sets, amounting to 36 million electrons collected in 259 measurement days, a substantial reduction of the background level and improved systematic uncertainties, this result tightens KATRIN's previous bound by a factor of almost two., Comment: 61 pages, 20 figures, 2 tables

We study the fixed points of outer-totalistic cellular automata on sparse random regular graphs. These can be seen as constraint satisfaction problems, where each variable must adhere to the same local constraint, which depends solely on its state and the total number of its neighbors in each possible state. Examples of this setting include classical problems such as independent sets or assortative/dissasortative partitions. We analyse the existence and number of fixed points in the large system limit using the cavity method, under both the replica symmetric (RS) and one-step replica symmetry breaking (1RSB) assumption. This method allows us to characterize the structure of the space of solutions, in particular, if the solutions are clustered and whether the clusters contain frozen variables. This last property is conjectured to be linked to the typical algorithmic hardness of the problem. We bring experimental evidence for this claim by studying the performance of the belief-propagation reinforcement algorithm, a message-passing-based solver for these constraint satisfaction problems., Comment: 26 pages, 7 figures

The growing need for sustainable energy solutions has driven the integration of digitalized buildings into the power grid, utilizing Internet-of-Things technology to optimize building performance and energy efficiency. However, incorporating IoT point data within deep-learning frameworks for energy management presents a complex challenge, predominantly due to the inherent data heterogeneity. This paper comprehensively analyzes the multifaceted heterogeneity present in real-world building IoT data streams. We meticulously dissect the heterogeneity across multiple dimensions, encompassing ontology, etiology, temporal irregularity, spatial diversity, and their combined effects on the IoT point data distribution. In addition, experiments using state-of-the-art forecasting models are conducted to evaluate their impacts on the performance of deep-learning models for forecasting tasks. By charting the diversity along these dimensions, we illustrate the challenges and delineate pathways for future research to leverage this heterogeneity as a resource rather than a roadblock. This exploration sets the stage for advancing the predictive abilities of deep-learning algorithms and catalyzing the evolution of intelligent energy-efficient buildings.

In convection-dominated flows, robustness of the spatial discretisation is a key property. While Interior Penalty Galerkin (IPG) methods already proved efficient in the situation of large mesh Peclet numbers, Arbitrary Lagrangian-Eulerian (ALE) methods are able to reduce the convection-dominance by moving the mesh. In this paper, we introduce and analyse a velocity-based moving mesh discontinuous Galerkin method for the solution of the linear advection-diffusion equation. By introducing a smooth parameterized velocity $\tilde{V}$ that separates the flow into a mean flow, also called moving mesh velocity, and a remaining advection field $V-\tilde{V}$, we made a convergence analysis based on the smoothness of the mesh velocity. Furthermore, the reduction of the advection speed improves the stability of an explicit time-stepping and the use of the nonconservative ALE formulation changes the coercivity condition. Finally, by adapting the existing robust error criteria to this moving mesh situation, we derived robust \textit{a posteriori} error criteria that describe the potentially small deviation to the mean flow and include the information of a transition towards $V=\tilde{V}$., Comment: 20 pages, 2 figures, Submitted to SINUM on 16/05/2024, not yet reviewed (15/05/2024)

Sulphur-bearing species are detected in various environments within Galactic star-forming regions and are particularly abundant in the gas phase of outflows and shocks, and photo-dissociation regions. In this work, we aim to investigate the nature of the emission from the most common sulphur-bearing species observable at millimetre wavelengths towards the nuclear starburst of the galaxy NGC 253. We intend to understand which type of regions are probed by sulphur-bearing species and which process(es) dominate(s) the release of sulphur into the gas phase. We used the high-angular resolution (1.6" or 27 pc) observations from the ALCHEMI ALMA Large Program to image several sulphur-bearing species towards the central molecular zone (CMZ) of NGC 253. We performed local thermodynamic equilibrium (LTE) and non-LTE large velocity gradient (LVG) analyses to derive the physical conditions of the gas in which S-bearing species are emitted, and their abundance ratios across the CMZ. Finally, we compared our results with previous ALCHEMI studies and a few selected Galactic environments. We found that not all sulphur-bearing species trace the same type of gas: strong evidence indicates that H2S and part of the emission of OCS, H2CS, and SO, are tracing shocks whilst part of SO and CS emission rather trace the dense molecular gas. For some species, such as CCS and SO2, we could not firmly conclude on their origin of emission. The present analysis indicates that the emission from most sulphur-bearing species throughout the CMZ is likely dominated by shocks associated with ongoing star formation. In the inner part of the CMZ where the presence of super star clusters was previously indicated, we could not distinguish between shocks or thermal evaporation as the main process releasing the S-bearing species., Comment: 44 pages, 20 figures, Accepted for publication in A&A

In clinical settings, we often face the challenge of building prediction models based on small observational data sets. For example, such a data set might be from a medical center in a multi-center study. Differences between centers might be large, thus requiring specific models based on the data set from the target center. Still, we want to borrow information from the external centers, to deal with small sample sizes. There are approaches that either assign weights to each external data set or each external observation. To incorporate information on differences between data sets and observations, we propose an approach that combines both into weights that can be incorporated into a likelihood for fitting regression models. Specifically, we suggest weights at the data set level that incorporate information on how well the models that provide the observation weights distinguish between data sets. Technically, this takes the form of inverse probability weighting. We explore different scenarios where covariates and outcomes differ among data sets, informing our simulation design for method evaluation. The concept of effective sample size is used for understanding the effectiveness of our subgroup modeling approach. We demonstrate our approach through a clinical application, predicting applied radiotherapy doses for cancer patients. Generally, the proposed approach provides improved prediction performance when external data sets are similar. We thus provide a method for quantifying similarity of external data sets to the target data set and use this similarity to include external observations for improving performance in a target data set prediction modeling task with small data., Comment: minor update of affiliations and funding

The Sherrington-Kirkpatrick (SK) model is a prototype of a complex non-convex energy landscape. Dynamical processes evolving on such landscapes and locally aiming to reach minima are generally poorly understood. Here, we study quenches, i.e. dynamics that locally aim to decrease energy. We analyse the energy at convergence for two distinct algorithmic classes, single-spin flip and synchronous dynamics, focusing on greedy and reluctant strategies. We provide precise numerical analysis of the finite size effects and conclude that, perhaps counter-intuitively, the reluctant algorithm is compatible with converging to the ground state energy density, while the greedy strategy is not. Inspired by the single-spin reluctant and greedy algorithms, we investigate two synchronous time algorithms, the sync-greedy and sync-reluctant algorithms. These synchronous processes can be analysed using dynamical mean field theory (DMFT), and a new backtracking version of DMFT. Notably, this is the first time the backtracking DMFT is applied to study dynamical convergence properties in fully connected disordered models. The analysis suggests that the sync-greedy algorithm can also achieve energies compatible with the ground state, and that it undergoes a dynamical phase transition.

Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about the scene or physically interacting and changing the scene (e.g. 'Sort the objects from lightest to heaviest'). In order to facilitate the development of such systems we introduce a new simulating environment that makes use of MuJoCo physics engine and high-quality renderer Blender to provide realistic visual observations that are also accurate to the physical state of the scene. Together with the simulator we propose a new benchmark composed of 10 classes of multi-step reasoning scenarios that require simultaneous visual and physical measurements. Finally, we develop a new modular Closed Loop Interactive Reasoning (CLIER) approach that takes into account the measurements of non-visual object properties, changes in the scene caused by external disturbances as well as uncertain outcomes of robotic actions. We extensively evaluate our reasoning approach in simulation and in the real world manipulation tasks with a success rate above 76% and 64%, respectively.

This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves exploratory action selection to maximize learning about objects on a table. A Bayesian network models conditional dependencies between object properties, incorporating prior probability distributions and uncertainty associated with measurement actions. The algorithm selects optimal exploratory actions based on expected information gain and updates object properties through Bayesian inference. Experimental evaluation demonstrates effective action selection compared to a baseline and correct termination of the experiments if there is nothing more to be learned. The algorithm proved to behave intelligently when presented with trick objects with material properties in conflict with their appearance. The robot pipeline integrates with a logging module and an online database of objects, containing over 24,000 measurements of 63 objects with different grippers. All code and data are publicly available, facilitating automatic digitization of objects and their physical properties through exploratory manipulations., Comment: 8 pages, 8 figures

Knowledge of the bottom topography, also called bathymetry, of rivers, seas or the ocean is important for many areas of maritime science and civil engineering. While direct measurements are possible, they are time consuming and expensive. Therefore, many approaches have been proposed how to infer the bathymetry from measurements of surface waves. Mathematically, this is an inverse problem where an unknown system state needs to be reconstructed from observations with a suitable model for the flow as constraint. In many cases, the shallow water equations can be used to describe the flow. While theoretical studies of the efficacy of such a PDE-constrained optimisation approach for bathymetry reconstruction exist, there seem to be few publications that study its application to data obtained from real-world measurements. This paper shows that the approach can, at least qualitatively, reconstruct a Gaussian-shaped bathymetry in a wave flume from measurements of the water height at up to three points. Achieved normalized root mean square errors (NRMSE) are in line with other approaches.

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working on such a process can be stressful for the user and lead to ineffective behavior or failure. We propose a novel approach of online constraint-based scheduling in a reactive execution control framework facilitating behavior trees called CoBOS. This allows the robot to adapt to uncertain events such as delayed activity completions and activity selection (by the human). The user will experience less stress as the robotic coworkers adapt their behavior to best complement the human-selected activities to complete the common task. In addition to the improved working conditions, our algorithm leads to increased efficiency, even in highly uncertain scenarios. We evaluate our algorithm using a probabilistic simulation study with 56000 experiments. We outperform all baselines by a margin of 4-10%. Initial real robot experiments using a Franka Emika Panda robot and human tracking based on HTC Vive VR gloves look promising., Comment: 7 pages, 8 figures

Rupture of intracranial aneurysms results in severe subarachnoidal hemorrhage, which is associated with high morbidity and mortality. Neurointerventional occlusion of the aneurysm through coiling has evolved to a therapeutical standard. The choice of the specific coil has an important influence on secondary regrowth requiring retreatment. Aneurysm occlusion was simulated either through virtual implantation of a preshaped 3D coil or with a porous media approach. In this study, we used a recently developed numerical approach to simulate aneurysm shapes in specific challenging aneurysm anatomies and correlated these with aneurysm recurrence 6 months after treatment. The simulation showed a great variety of coil shapes depending on the variability in possible microcatheter positions. Aneurysms with a later recurrence showed a tendency for more successful coiling attempts. Results revealed further trends suggesting lower simulated packing densities in aneurysms with reoccurrence. Simulated packing densities did not correlate with those calculated by conventional software, indicating the potential for our approach to offer additional predictive value. Our study, therefore, pioneers a comprehensive numerical model for simulating aneurysm coiling, providing insights into individualized treatment strategies and outcome prediction. Future directions involve expanding the model's capabilities to simulate intraprocedural outcomes and long-term predictions, aiming to refine occlusion quality criteria and validate prediction parameters in larger patient cohorts. This simulation framework holds promise for enhancing clinical decision-making and optimizing patient outcomes in endovascular aneurysm treatment., Comment: 13 pages, 4 figures

Used car pricing is a critical aspect of the automotive industry, influenced by many economic factors and market dynamics. With the recent surge in online marketplaces and increased demand for used cars, accurate pricing would benefit both buyers and sellers by ensuring fair transactions. However, the transition towards automated pricing algorithms using machine learning necessitates the comprehension of model uncertainties, specifically the ability to flag predictions that the model is unsure about. Although recent literature proposes the use of boosting algorithms or nearest neighbor-based approaches for swift and precise price predictions, encapsulating model uncertainties with such algorithms presents a complex challenge. We introduce ProbSAINT, a model that offers a principled approach for uncertainty quantification of its price predictions, along with accurate point predictions that are comparable to state-of-the-art boosting techniques. Furthermore, acknowledging that the business prefers pricing used cars based on the number of days the vehicle was listed for sale, we show how ProbSAINT can be used as a dynamic forecasting model for predicting price probabilities for different expected offer duration. Our experiments further indicate that ProbSAINT is especially accurate on instances where it is highly certain. This proves the applicability of its probabilistic predictions in real-world scenarios where trustworthiness is crucial., Comment: 9 pages, 4 figures

Determining the evolution of the CNO isotopes in the interstellar medium (ISM) of starburst galaxies can yield important constraints on the ages of superstar clusters (SSCs), or on other aspects and contributing factors of their evolution. Due to the time-dependent nature of the abundances of isotopes within the ISM as they are supplied from processes such as nucleosynthesis or chemical fractionation, this provides the possible opportunity to probe the ability of isotopes ratios to trace the ages of high star forming regions, such as SSCs. The goal of this study is to investigate whether the isotopic variations in SSC regions within NGC253 are correlated with their different ages as derived from stellar population modelling. We have measured abundance ratios of CO, HCN and HCO$^+$ isotopologues in six regions containing SSCs within NGC253 using high spatial resolution (1.6",$\sim 28$pc) data from the ALCHEMI (ALma Comprehensive High-resolution Extragalactic Molecular Inventory) ALMA Large program. We have then analysed these ratios using RADEX radiative transfer modelling, with the parameter space sampled using the nested sampling Monte Carlo algorithm MLFriends. These abundance ratios were then compared to ages predicted in each region via the fitting of observed star formation tracers (such as Br$\gamma$) to starburst stellar population evolution models. We do not find any significant trend with age for the CO and HCN isotopologue ratios on the timescales for the ages of the SSC* regions observed. The driving factors of these ratios within SSCs could be the Initial Mass Function as well as possibly fractionation effects. To further probe these effects in SSCs over time a larger sample of SSCs must be observed spanning a larger age range., Comment: 44 pages, 43 Figures, Accepted for Publication to A&A

We investigate how a dot-product attention layer learns a positional attention matrix (with tokens attending to each other based on their respective positions) and a semantic attention matrix (with tokens attending to each other based on their meaning). For an algorithmic task, we experimentally show how the same simple architecture can learn to implement a solution using either the positional or semantic mechanism. On the theoretical side, we study the learning of a non-linear self-attention layer with trainable tied and low-rank query and key matrices. In the asymptotic limit of high-dimensional data and a comparably large number of training samples, we provide a closed-form characterization of the global minimum of the non-convex empirical loss landscape. We show that this minimum corresponds to either a positional or a semantic mechanism and evidence an emergent phase transition from the former to the latter with increasing sample complexity. Finally, we compare the dot-product attention layer to linear positional baseline, and show that it outperforms the latter using the semantic mechanism provided it has access to sufficient data.

Deep learning has proven to be a valuable tool to represent subgrid processes in climate models, but most application cases have so far used idealized settings and deterministic approaches. Here, we develop ensemble and stochastic parameterizations with calibrated uncertainty quantification to learn subgrid convective and turbulent processes and surface radiative fluxes of a superparameterization embedded in an Earth System Model (ESM). We explore three methods to construct stochastic parameterizations: 1) a single Deep Neural Network (DNN) with Monte Carlo Dropout; 2) a multi-network ensemble; and 3) a Variational Encoder Decoder with latent space perturbation. We show that the multi-network ensembles improve the representation of convective processes in the planetary boundary layer compared to individual DNNs. The respective uncertainty quantification illustrates that the two latter methods are advantageous compared to a dropout-based DNN ensemble regarding the spread of convective processes. We develop a novel partial coupling strategy to sidestep issues in condensate emulation to evaluate the multi-network parameterizations in online runs coupled to the ESM. We can conduct Earth-like stable runs over more than 5 months with the ensemble approach, while such simulations using individual DNNs fail within days. Moreover, we show that our novel ensemble parameterizations improve the representation of extreme precipitation and the underlying diurnal cycle compared to a traditional parameterization, although faithfully representing the mean precipitation pattern remains challenging. Our results pave the way towards a new generation of parameterizations using machine learning with realistic uncertainty quantification that significantly improve the representation of subgrid effects., Comment: main: 34 pages, 8 figures, 1 table; supporting information: 39 pages, 23 figures, 4 tables ; submitted to Journal of Advances in Modeling Earth Systems (JAMES)

This white paper outlines a long-term scientific vision for the development of digital-democracy technology. We contend that if digital democracy is to meet the ambition of enabling a participatory renewal in our societies, then a comprehensive multi-methods research effort is required that could, over the years, support its development in a democratically principled, empirically and computationally informed way. The paper is co-authored by an international and interdisciplinary team of researchers and arose from the Lorentz Center Workshop on ``Algorithmic Technology for Democracy'' (Leiden, October 2022).

We discuss the implications of generative AI on education across four critical sections: the historical development of AI in education, its contemporary applications in learning, societal repercussions, and strategic recommendations for researchers. We propose ways in which generative AI can transform the educational landscape, primarily via its ability to conduct assessment of complex cognitive performances and create personalized content. We also address the challenges of effective educational tool deployment, data bias, design transparency, and accurate output verification. Acknowledging the societal impact, we emphasize the need for updating curricula, redefining communicative trust, and adjusting to transformed social norms. We end by outlining the ways in which educational stakeholders can actively engage with generative AI, develop fluency with its capacities and limitations, and apply these insights to steer educational practices in a rapidly advancing digital landscape., Comment: This is a preprint version of an edited book chapter to appear in Kourkoulou, D., O. Tzirides, B. Cope, M. Kalantzis, (eds) (2024). Trust and Inclusion in AI-Mediated Education: Where Human Learning Meets Learning Machines, Springer

In a longitudinal clinical registry, different measurement instruments might have been used for assessing individuals at different time points. To combine them, we investigate deep learning techniques for obtaining a joint latent representation, to which the items of different measurement instruments are mapped. This corresponds to domain adaptation, an established concept in computer science for image data. Using the proposed approach as an example, we evaluate the potential of domain adaptation in a longitudinal cohort setting with a rather small number of time points, motivated by an application with different motor function measurement instruments in a registry of spinal muscular atrophy (SMA) patients. There, we model trajectories in the latent representation by ordinary differential equations (ODEs), where person-specific ODE parameters are inferred from baseline characteristics. The goodness of fit and complexity of the ODE solutions then allows to judge the measurement instrument mappings. We subsequently explore how alignment can be improved by incorporating corresponding penalty terms into model fitting. To systematically investigate the effect of differences between measurement instruments, we consider several scenarios based on modified SMA data, including scenarios where a mapping should be feasible in principle and scenarios where no perfect mapping is available. While misalignment increases in more complex scenarios, some structure is still recovered, even if the availability of measurement instruments depends on patient state. A reasonable mapping is feasible also in the more complex real SMA dataset. These results indicate that domain adaptation might be more generally useful in statistical modeling for longitudinal registry data., Comment: 18 pages, 4 figures

We present a spatially-resolved excitation analysis for the central molecular zone (CMZ) of the starburst galaxy NGC 253 using the data from the ALMA Large program ALCHEMI, whereby we explore parameters distinguishing NGC 253 from the quiescent Milky Way's Galactic Center (GC). Non-LTE analyses employing a hierarchical Bayesian framework are applied to Band 3-7 transitions from nine molecular species to delineate the position-position-velocity distributions of column density ($N_\mathrm{H_2}$), volume density ($n_\mathrm{H_2}$), and temperature ($T_\mathrm{kin}$) at 27 pc resolution. Two distinct components are detected: a low-density component with $(n_\mathrm{H_2},\ T_\mathrm{kin})\sim(10^{3.3}\ \mathrm{cm}^{-3}, 85 K)$ and a high-density component with $(n_\mathrm{H_2},\ T_\mathrm{kin})\sim (10^{4.4}\ \mathrm{cm}^{-3}, 110\ \mathrm{K})$, separated at $n_\mathrm{H_2}\sim10^{3.8}\ \mathrm{cm}^{-3}$. NGC 253 has $\sim10$ times the high-density gas mass and $\sim3$ times the dense-gas mass fraction of the GC. These properties are consistent with their HCN/CO ratio but cannot alone explain the factor of $\sim30$ difference in their star formation efficiencies (SFEs), contradicting the dense-gas mass to star formation rate scaling law. The $n_\mathrm{H_2}$ histogram toward NGC 253 exhibits a shallow declining slope up to $n_\mathrm{H_2}\sim10^6\ \mathrm{cm}^{-3}$, while that of the GC steeply drops in $n_\mathrm{H_2}\gtrsim10^{4.5}\ \mathrm{cm}^{-3}$ and vanishes at $10^5\ \mathrm{cm}^{-3}$. Their dense-gas mass fraction ratio becomes consistent with their SFEs when the threshold $n_\mathrm{H_2}$ for the dense gas is taken at $\sim 10^{4.2\mbox{-}4.6}\ \mathrm{cm}^{-3}$. The rich abundance of gas above this density range in the NGC 253 CMZ, or its scarcity in the GC, is likely to be the critical difference characterizing the contrasting star formation in the centers of the two galaxies., Comment: 49 pages, 27 figures, 7 tables, accepted for publication in the Astrophysical Journal

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect to the object, grasping the dynamically moving object, or co-manipulating the object together with a human. Fast and accurate 6D pose estimation is crucial to achieve smooth and stable robot control in such situations. The contributions of this work are three fold. First, we propose a new visual perception module that asynchronously combines accurate learning-based 6D object pose localizer and a high-rate model-based 6D pose tracker. The outcome is a low-latency accurate and temporally consistent 6D object pose estimation from the input video stream at up to 120 Hz. Second, we develop a visually guided robot arm controller that combines the new visual perception module with a torque-based model predictive control algorithm. Asynchronous combination of the visual and robot proprioception signals at their corresponding frequencies results in stable and robust 6D object pose guided robot arm control. Third, we experimentally validate the proposed approach on a challenging 6D pose estimation benchmark and demonstrate 6D object pose-guided control with dynamically moving objects on a real 7 DoF Franka Emika Panda robot.

We study the monopole h-invariants of 3-manifolds from a topological perspective based on Lidman and Manolescu's description of monopole Floer homology in terms of Seiberg-Witten-Floer homotopy types. We investigate the possible dependence on the choice of coefficients and give proofs of several properties of the h-invariants which are well known to experts, but hard to track down in the literature., Comment: 30 pages; Comments are welcome!

Discrete dynamical systems can exhibit complex behaviour from the iterative application of straightforward local rules. A famous example are cellular automata whose global dynamics are notoriously challenging to analyze. To address this, we relax the regular connectivity grid of cellular automata to a random graph, which gives the class of graph cellular automata. Using the dynamical cavity method (DCM) and its backtracking version (BDCM), we show that this relaxation allows us to derive asymptotically exact analytical results on the global dynamics of these systems on sparse random graphs. Concretely, we showcase the results on a specific subclass of graph cellular automata with ``conforming non-conformist'' update rules, which exhibit dynamics akin to opinion formation. Such rules update a node's state according to the majority within their own neighbourhood. In cases where the majority leads only by a small margin over the minority, nodes may exhibit non-conformist behaviour. Instead of following the majority, they either maintain their own state, switch it, or follow the minority. For configurations with different initial biases towards one state we identify sharp dynamical phase transitions in terms of the convergence speed and attractor types. From the perspective of opinion dynamics this answers when consensus will emerge and when two opinions coexist almost indefinitely., Comment: 15 pages