The moral relevance of personal characteristics in setting health care priorities

This paper discusses the moral relevance of accounting for various personal characteristics when prioritising between groups of patients. After a review of the results from empirical studies, we discuss the ethical reasons which might explain – and justify – the views expressed in these studies. The paper develops a general framework based upon the causes of ill health and the consequences of treatment. It then turns to the question of the extent to which a personal characteristic – and the eventual underlying ethical justification of its relevance – could have any relationships to these causes and consequences. We attempt to disentangle those characteristics that may reflect a potentially relevant justification from those which violate widely accepted principles of social justice.Health care priorities; Ethics; Personal responsibilities; Consequences

Tractable Joint Prediction and Planning over Discrete Behavior Modes for Urban Driving

Significant progress has been made in training multimodal trajectory forecasting models for autonomous driving. However, effectively integrating these models with downstream planners and model-based control approaches is still an open problem. Although these models have conventionally been evaluated for open-loop prediction, we show that they can be used to parameterize autoregressive closed-loop models without retraining. We consider recent trajectory prediction approaches which leverage learned anchor embeddings to predict multiple trajectories, finding that these anchor embeddings can parameterize discrete and distinct modes representing high-level driving behaviors. We propose to perform fully reactive closed-loop planning over these discrete latent modes, allowing us to tractably model the causal interactions between agents at each step. We validate our approach on a suite of more dynamic merging scenarios, finding that our approach avoids the $\textit{frozen robot problem}$ which is pervasive in conventional planners. Our approach also outperforms the previous state-of-the-art in CARLA on challenging dense traffic scenarios when evaluated at realistic speeds

Reasoning with Latent Diffusion in Offline Reinforcement Learning

Offline reinforcement learning (RL) holds promise as a means to learn high-reward policies from a static dataset, without the need for further environment interactions. However, a key challenge in offline RL lies in effectively stitching portions of suboptimal trajectories from the static dataset while avoiding extrapolation errors arising due to a lack of support in the dataset. Existing approaches use conservative methods that are tricky to tune and struggle with multi-modal data (as we show) or rely on noisy Monte Carlo return-to-go samples for reward conditioning. In this work, we propose a novel approach that leverages the expressiveness of latent diffusion to model in-support trajectory sequences as compressed latent skills. This facilitates learning a Q-function while avoiding extrapolation error via batch-constraining. The latent space is also expressive and gracefully copes with multi-modal data. We show that the learned temporally-abstract latent space encodes richer task-specific information for offline RL tasks as compared to raw state-actions. This improves credit assignment and facilitates faster reward propagation during Q-learning. Our method demonstrates state-of-the-art performance on the D4RL benchmarks, particularly excelling in long-horizon, sparse-reward tasks

Serendipitous Geodesy from Bennu's Short-Lived Moonlets

The Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx; or OREx) spacecraft arrived at its target, near-Earth asteroid (101955) Bennu, on December 3, 2018. The OSIRIS-REx spacecraft has since collected a wealth of scientific information in order to select a suitable site for sampling. Shortly after insertion into orbit on December 31, 2018, particles were identified in starfield images taken by the navigation camera (NavCam 1). Several groups within the OSlRlS-REx team analyzed the particle data in an effort to better understand this newfound activity of Bennu and to investigate the potential sensitivity of the particles to Bennu's geophysical parameters. A number of particles were identified through automatic and manual methods in multiple images, which could be turned into short sequences of optical tracking observations. Here, we discuss the precision orbit determination (OD) effort focused on these particles at NASA GSFC, which involved members of the Independent Navigation Team (INT) in particular. The particle data are combined with other OSIRIS-REx tracking data (radiometric from OSN and optical landmark data) using the NASA GSFC GEODYN orbit determination and geodetic parameter estimation software. We present the results of our study, particularly those pertaining to the gravity field of Bennu. We describe the force modeling improvements made to GEODYN specifically for this work, e.g., with a raytracing-based modeling of solar radiation pressure. The short-lived, low-flying moonlets enable us to determine a gravity field model up to a relatively high degree and order: at least degree 6 without constraints, and up to degree 10 when applying Kaula-like regularization. We can backward- and forward-integrate the trajectory of these particles to the ejection and landing sites on Bennu. We assess the recovered field by its impact on the OSIRIS-REx trajectory reconstruction and prediction quality in the various mission phases (e.g., Orbital A, Detailed Survey, and Orbital B)

Inflammation and acute traffic-related air pollution exposures among a cohort of youth with type 1 diabetes

Background: Evidence remains equivocal regarding the association of inflammation, a precursor to cardiovascular disease, and acute exposures to ambient air pollution from traffic-related particulate matter. Though youth with type 1 diabetes are at higher risk for cardiovascular disease, the relationship of inflammation and ambient air pollution exposures in this population has received little attention. Objectives: Using five geographically diverse US sites from the racially- and ethnically-diverse SEARCH for Diabetes in Youth Cohort, we examined the relationship of acute exposures to PM2.5 mass, Atmospheric Dispersion Modeling System (ADMS)-Roads traffic-related PM concentrations near roadways, and elemental carbon (EC) with biomarkers of inflammation including interleukin-6 (IL-6), c-reactive protein (hs-CRP) and fibrinogen. Methods: Baseline questionnaires and blood were obtained at a study visit. Using a spatio-temporal modeling approach, pollutant exposures for 7 days prior to blood draw were assigned to residential addresses. Linear mixed models for each outcome and exposure were adjusted for demographic and lifestyle factors identified a priori. Results: Among the 2566 participants with complete data, fully-adjusted models showed positive associations of EC average week exposures with IL-6 and hs-CRP, and PM2.5 mass exposures on lag day 3 with IL-6 levels. Comparing the 25th and 75th percentiles of average week EC exposures resulted in 8.3% higher IL-6 (95%CI: 2.7%,14.3%) and 9.8% higher hs-CRP (95%CI: 2.4%,17.7%). We observed some evidence of effect modification for the relationships of PM2.5 mass exposures with hs-CRP by gender and with IL-6 by race/ethnicity. Conclusions: Indicators of inflammation were associated with estimated traffic-related air pollutant exposures in this study population of youth with type 1 diabetes. Thus youth with type 1 diabetes may be at increased risk of air pollution-related inflammation. These findings and the racial/ethnic and gender differences observed deserve further exploration

A dynamic Bayesian network for identifying protein-binding footprints from single molecule-based sequencing data

Motivation: A global map of transcription factor binding sites (TFBSs) is critical to understanding gene regulation and genome function. DNaseI digestion of chromatin coupled with massively parallel sequencing (digital genomic footprinting) enables the identification of protein-binding footprints with high resolution on a genome-wide scale. However, accurately inferring the locations of these footprints remains a challenging computational problem