Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by this fact, this paper presents the design, simulation, and learning-based "in-flight" attitude control of Olympus, a jumping legged robot tailored to the gravity of Mars. First, the design requirements are outlined followed by detailing how simulation enabled optimizing the robot's design - from its legs to the overall configuration - towards high vertical jumping, forward jumping distance, and in-flight attitude reorientation. Subsequently, the reinforcement learning policy used to track desired in-flight attitude maneuvers is presented. Successfully crossing the sim2real gap, extensive experimental studies of attitude reorientation tests are demonstrated.

The Internet of Medical Things (IoMT) transcends traditional medical boundaries, enabling a transition from reactive treatment to proactive prevention. This innovative method revolutionizes healthcare by facilitating early disease detection and tailored care, particularly in chronic disease management, where IoMT automates treatments based on real-time health data collection. Nonetheless, its benefits are countered by significant security challenges that endanger the lives of its users due to the sensitivity and value of the processed data, thereby attracting malicious interests. Moreover, the utilization of wireless communication for data transmission exposes medical data to interception and tampering by cybercriminals. Additionally, anomalies may arise due to human errors, network interference, or hardware malfunctions. In this context, anomaly detection based on Machine Learning (ML) is an interesting solution, but it comes up against obstacles in terms of explicability and protection of privacy. To address these challenges, a new framework for Intrusion Detection Systems (IDS) is introduced, leveraging Artificial Neural Networks (ANN) for intrusion detection while utilizing Federated Learning (FL) for privacy preservation. Additionally, eXplainable Artificial Intelligence (XAI) methods are incorporated to enhance model explanation and interpretation. The efficacy of the proposed framework is evaluated and compared with centralized approaches using multiple datasets containing network and medical data, simulating various attack types impacting the confidentiality, integrity, and availability of medical and physiological data. The results obtained offer compelling evidence that the FL method performs comparably to the centralized method, demonstrating high performance. Additionally, it affords the dual advantage of safeguarding privacy and providing model explanation.

Abstractive summarization has enjoyed renewed interest in recent years, thanks to pre-trained language models and the availability of large-scale datasets. Despite promising results, current models still suffer from generating factually inconsistent summaries, reducing their utility for real-world application. Several recent efforts attempt to address this by devising models that automatically detect factual inconsistencies in machine generated summaries. However, they focus exclusively on English, a language with abundant resources. In this work, we leverage factual consistency evaluation models to improve multilingual summarization. We explore two intuitive approaches to mitigate hallucinations based on the signal provided by a multilingual NLI model, namely data filtering and controlled generation. Experimental results in the 45 languages from the XLSum dataset show gains over strong baselines in both automatic and human evaluation.

The Internet of Medical Things (IoMT) has revolutionized the healthcare industry by enabling physiological data collection using sensors, which are transmitted to remote servers for continuous analysis by physicians and healthcare professionals. This technology offers numerous benefits, including early disease detection and automatic medication for patients with chronic illnesses. However, IoMT technology also presents significant security risks, such as violating patient privacy or exposing sensitive data to interception attacks due to wireless communication, which could be fatal for the patient. Additionally, traditional security measures, such as cryptography, are challenging to implement in medical equipment due to the heterogeneous communication and their limited computation, storage, and energy capacity. These protection methods are also ineffective against new and zero-day attacks. It is essential to adopt robust security measures to ensure data integrity, confidentiality, and availability during data collection, transmission, storage, and processing. In this context, using Intrusion Detection Systems (IDS) based on Machine Learning (ML) can bring a complementary security solution adapted to the unique characteristics of IoMT systems. Therefore, this paper investigates how IDS based on ML can address security and privacy issues in IoMT systems. First, the generic three-layer architecture of IoMT is provided, and the security requirements of IoMT systems are outlined. Then, the various threats that can affect IoMT security are identified, and the advantages, disadvantages, methods, and datasets used in each solution based on ML at the three layers that make up IoMT are presented. Finally, the paper discusses the challenges and limitations of applying IDS based on ML at each layer of IoMT, which can serve as a future research direction.