PreCare: Designing AI Assistants for Advance Care Planning (ACP) to Enhance Personal Value Exploration, Patient Knowledge, and Decisional Confidence

Advance Care Planning (ACP) allows individuals to specify their preferred end-of-life life-sustaining treatments before they become incapacitated by injury or terminal illness (e.g., coma, cancer, dementia). While online ACP offers high accessibility, it lacks key benefits of clinical consultations, including personalized value exploration, immediate clarification of decision consequences. To bridge this gap, we conducted two formative studies: 1) shadowed and interviewed 3 ACP teams consisting of physicians, nurses, and social workers (18 patients total), and 2) interviewed 14 users of ACP websites. Building on these insights, we designed PreCare in collaboration with 6 ACP professionals. PreCare is a website with 3 AI-driven assistants designed to guide users through exploring personal values, gaining ACP knowledge, and supporting informed decision-making. A usability study (n=12) showed that PreCare achieved a System Usability Scale (SUS) rating of excellent. A comparative evaluation (n=12) showed that PreCare's AI assistants significantly improved exploration of personal values, knowledge, and decisional confidence, and was preferred by 92% of participants.

Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads

Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even catastrophic failure. Although adaptive control and learning-based methods can in principle adapt to changes in these hybrid robot-payload systems, rapid mid-flight adaptation to payloads that have a priori unknown physical properties remains an open problem. We propose a meta-learning approach that "learns how to learn" models of altered dynamics within seconds of post-connection flight data. Our experiments demonstrate that our online adaptation approach outperforms non-adaptive methods on a series of challenging suspended payload transportation tasks. Videos and other supplemental material are available on our website https://sites.google.com/view/meta-rl-for-flight