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A prerequisite for social coordination is bidirectional communication between teammates, each playing two roles simultaneously: as receptive listeners and expressive speakers. For robots working with humans in complex situations with multiple goals that differ in importance, failure to fulfill the expectation of either role could undermine group performance due to misalignment of values between humans and robots. Specifically, a robot needs to serve as an effective listener to infer human users’ intents from instructions and feedback and as an expressive speaker to explain its decision processes to users. Here, we investigate how to foster effective bidirectional human-robot communications in the context of value alignment—collaborative robots and users form an aligned understanding of the importance of possible task goals. We propose an explainable artificial intelligence (XAI) system in which a group of robots predicts users’ values by taking in situ feedback into consideration while communicating their decision processes to users through explanations. To learn from human feedback, our XAI system integrates a cooperative communication model for inferring human values associated with multiple desirable goals. To be interpretable to humans, the system simulates human mental dynamics and predicts optimal explanations using graphical models. We conducted psychological experiments to examine the core components of the proposed computational framework. Our results show that real-time human-robot mutual understanding in complex cooperative tasks is achievable with a learning model based on bidirectional communication. We believe that this interaction framework can shed light on bidirectional value alignment in communicative XAI systems and, more broadly, in future human-machine teaming systems. 

Since its publication, the authors of Wang et al. (2021) have brought to our attention an error in their article. A grant awarded by the National Science Foundation (grant no. MCB 1817985) to author Elizabeth Vierling was omitted from the Acknowledgements section. The correct Acknowledgements section is shown below. Acknowledgements We thank Suiwen Hou (Lanzhou University) and Zhaojun Ding (Shandong University) for providing the seeds used in this study. We thank Xiaoping Gou (Lanzhou University) and Ravishankar Palanivelu (University of Arizona) for critically reading the manuscript and for suggestions regarding the article. This work was supported by grants from National Natural Science Foundation of China (31870298) to SX, the US Department of Agriculture (USDA-CSREES-NRI-001030) and the National Science Foundation (MCB 1817985) to EV, and the Youth 1000-Talent Program of China (A279021801) to LY. 

Abstract Surface performance is critically influenced by topography in virtually all real-world applications. The current standard practice is to describe topography using one of a few industry-standard parameters. The most commonly reported number is$$R$$ $R$a, the average absolute deviation of the height from the mean line (at some, not necessarily known or specified, lateral length scale). However, other parameters, particularly those that are scale-dependent, influence surface and interfacial properties; for example the local surface slope is critical for visual appearance, friction, and wear. The present Surface-Topography Challenge was launched to raise awareness for the need of a multi-scale description, but also to assess the reliability of different metrology techniques. In the resulting international collaborative effort, 153 scientists and engineers from 64 research groups and companies across 20 countries characterized statistically equivalent samples from two different surfaces: a “rough” and a “smooth” surface. The results of the 2088 measurements constitute the most comprehensive surface description ever compiled. We find wide disagreement across measurements and techniques when the lateral scale of the measurement is ignored. Consensus is established through scale-dependent parameters while removing data that violates an established resolution criterion and deviates from the majority measurements at each length scale. Our findings suggest best practices for characterizing and specifying topography. The public release of the accumulated data and presented analyses enables global reuse for further scientific investigation and benchmarking. 

We report on a search for weakly interacting massive particle (WIMP) dark matter (DM) via elastic DM-xenon-nucleus interactions in the XENONnT experiment. We combine datasets from the first and second science campaigns resulting in a total exposure of 3.1 tonne-years. In a blind analysis of nuclear recoil events with energies above 3.8  keVNR, we find no significant excess above background. We set new upper limits on the spin-independent WIMP-nucleon scattering cross section for WIMP masses above 10  GeV/𝑐2 with a minimum of 1.7×10−47  cm2 at 90% confidence level for a WIMP mass of 30  GeV/𝑐2. We achieve a best median sensitivity of 1.4×10−47  cm2 for a 41  GeV/𝑐2 WIMP. Compared to the result from the first XENONnT science dataset, we improve our sensitivity by a factor of up to 1.8. 

In human pedagogy, teachers and students can interact adaptively to maximize communication efficiency. The teacher adjusts her teaching method for different students, and the student, after getting familiar with the teacher’s instruction mechanism, can infer the teacher’s intention to learn faster. Recently, the benefits of integrating this cooperative pedagogy into machine concept learning in discrete spaces have been proved by multiple works. However, how cooperative pedagogy can facilitate machine parameter learning hasn’t been thoroughly studied. In this paper, we propose a gradient optimization based teacher-aware learner who can incorporate teacher’s cooperative intention into the likelihood function and learn provably faster compared with the naive learning algorithms used in previous machine teaching works. We give theoretical proof that the iterative teacher-aware learning (ITAL) process leads to local and global improvements. We then validate our algorithms with extensive experiments on various tasks including regression, classification, and inverse reinforcement learning using synthetic and real data. We also show the advantage of modeling teacher-awareness when agents are learning from human teachers. 

Abstract Radiogenic neutrons emitted by detector materials are one of the most challenging backgrounds for the direct search of dark matter in the form of weakly interacting massive particles (WIMPs). To mitigate this background, the XENONnT experiment is equipped with a novel gadolinium-doped water Cherenkov detector, which encloses the xenon dual-phase time projection chamber (TPC). The neutron veto (NV) can tag neutrons via their capture on gadolinium or hydrogen, which release$$\gamma $$ $\gamma$-rays that are subsequently detected as Cherenkov light. In this work, we present the first results of the XENONnT NV when operated with demineralized water only, before the insertion of gadolinium. Its efficiency for detecting neutrons is$$({82\pm 1}){\%}$$ $\left(82\pm 1\right)\%$, the highest neutron detection efficiency achieved in a water Cherenkov detector. This enables a high efficiency of$$({53\pm 3}){\%}$$ $\left(53\pm 3\right)\%$for the tagging of WIMP-like neutron signals, inside a tagging time window of$${250}~{\upmu }\hbox {s}$$ $250\mu \text{s}$between TPC and NV, leading to a livetime loss of$${1.6}{\%}$$ $1.6\%$during the first science run of XENONnT.