John Healey, the British defense secretary, tours a new military drone production facility in Swindon, U.K., on Sept. 15. Healey is reportedly set to authorize new powers to shoot down drones amid a rise in incursions. British troops will be given new powers to shoot down drones threatening U.K. military bases, the Telegraph reported on Sunday, citing an upcoming announcement on Monday from John Healey, the British defense secretary. Healey is expected to unveil his vision on how to protect Britain's most critical military bases in response to a growing threat posed by Russia, the newspaper said. Although the new powers will initially apply only for military sites, the British government was not ruling out working to extend those powers to other important sites like airports, the Telegraph said, citing a source.

We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable operation when the individual sensors would otherwise produce degenerate estimation. To minimize leg odometry drift, we extend the robot's state with a linear velocity bias term, which is estimated online. This bias is observable because of the tight fusion of this preintegrated velocity factor with vision, lidar, and inertial measurement unit (IMU) factors. Extensive experimental validation on different ANYmal quadruped robots is presented, for a total duration of 2 h and 1.8 km traveled. The experiments involved dynamic locomotion over loose rocks, slopes, and mud, which caused challenges such as slippage and terrain deformation. Perceptual challenges included dark and dusty underground caverns, and open and feature-deprived areas. We show an average improvement of 62% translational and 51% rotational errors compared to a state-of-the-art loosely coupled approach. To demonstrate its robustness, VILENS was also integrated with a perceptive controller and a local path planner.

Reinforcement learning from human feedback plays a crucial role in aligning language models towards human preferences, traditionally represented through comparisons between pairs or sets of responses within a given context. While many studies have enhanced algorithmic techniques to optimize learning from such data, this work shifts focus to improving preference learning through a data-centric approach. Specifically, we propose enriching existing preference datasets with machine-generated rationales that explain the reasons behind choices. We develop a simple and principled framework to augment current preference learning methods with rationale information. Our comprehensive analysis highlights how rationales enhance learning efficiency. Extensive experiments reveal that rationale-enriched preference learning offers multiple advantages: it improves data efficiency, accelerates convergence to higher-performing models, and reduces verbosity bias and hallucination. Furthermore, this framework is versatile enough to integrate with various preference optimization algorithms. Overall, our findings highlight the potential of re-imagining data design for preference learning, demonstrating that even freely available machine-generated rationales can significantly boost performance across multiple dimensions. The code repository is available at https: //github.com/reds-lab/preference-learning-with-rationales

Uncertainty on human behaviors poses a significant challenge to autonomous driving in crowded urban environments. The partially observable Markov decision processes (POMDPs) offer a principled framework for planning under uncertainty, often leveraging Monte Carlo sampling to achieve online performance for complex tasks. However, sampling also raises safety concerns by potentially missing critical events. To address this, we propose a new algorithm, LEarning Attention over Driving bEhavioRs (LEADER), that learns to attend to critical human behaviors during planning. LEADER learns a neural network generator to provide attention over human behaviors in real-time situations. It integrates the attention into a belief-space planner, using importance sampling to bias reasoning towards critical events. To train the algorithm, we let the attention generator and the planner form a min-max game. By solving the min-max game, LEADER learns to perform risk-aware planning without human labeling.

This paper presents an architecture for generating music for video games based on the Transformer deep learning model. Our motivation is to be able to customize the generation according to the taste of the player, who can select a corpus of training examples, corresponding to his preferred musical style. The system generates various musical layers, following the standard layering strategy currently used by composers designing video game music. To adapt the music generated to the game play and to the player(s) situation, we are using an arousal-valence model of emotions, in order to control the selection of musical layers. We discuss current limitations and prospects for the future, such as collaborative and interactive control of the musical components.

Reuben Wu, a British photographer and visual artist based in Chicago, was first introduced to National Geographic as most people are: When he was a child, he enjoyed looking at the magazines his father subscribed to for decades. He dreamed of seeing his photographs in the same magazine--and even on the cover. So when National Geographic asked him to photograph an iconic monument he knows well, he was ready to work. Last summer, Wu experienced a stark contrast of modern and prehistoric, as he used drones and artificial light to photograph Stonehenge, one of the best-known prehistoric monuments, while hearing honking cars passing by. The site in Wiltshire, England, is bisected by the A303--a major road that may soon be in a tunnel should a 2020 proposal become reality--which means motorists may have seen Wu's photo shoot and lit-up drones.

Future coalition operations can be substantially augmented through agile teaming between human and machine agents, but in a coalition context these agents may be unfamiliar to the human users and expected to operate in a broad set of scenarios rather than being narrowly defined for particular purposes. In such a setting it is essential that the human agents can rapidly build trust in the machine agents through appropriate transparency of their behaviour, e.g., through explanations. The human agents are also able to bring their local knowledge to the team, observing the situation unfolding and deciding which key information should be communicated to the machine agents to enable them to better account for the particular environment. In this paper we describe the initial steps towards this human-agent knowledge fusion (HAKF) environment through a recap of the key requirements, and an explanation of how these can be fulfilled for an example situation. We show how HAKF has the potential to bring value to both human and machine agents working as part of a distributed coalition team in a complex event processing setting with uncertain sources.

The presumed data owners' right to explanations brought about by the General Data Protection Regulation in Europe has shed light on the social challenges of explainable artificial intelligence (XAI). In this paper, we present a case study with Deep Learning (DL) experts from a research and development laboratory focused on the delivery of industrial-strength AI technologies. Our aim was to investigate the social meaning (i.e. meaning to others) that DL experts assign to what they do, given a richly contextualized and familiar domain of application. Using qualitative research techniques to collect and analyze empirical data, our study has shown that participating DL experts did not spontaneously engage into considerations about the social meaning of machine learning models that they build. Moreover, when explicitly stimulated to do so, these experts expressed expectations that, with real-world DL application, there will be available mediators to bridge the gap between technical meanings that drive DL work, and social meanings that AI technology users assign to it. We concluded that current research incentives and values guiding the participants' scientific interests and conduct are at odds with those required to face some of the scientific challenges involved in advancing XAI, and thus responding to the alleged data owners' right to explanations or similar societal demands emerging from current debates. As a concrete contribution to mitigate what seems to be a more general problem, we propose three preliminary XAI Mediation Challenges with the potential to bring together technical and social meanings of DL applications, as well as to foster much needed interdisciplinary collaboration among AI and the Social Sciences researchers.

The evaluation of machine learning algorithms in biomedical fields for applications involving sequential data lacks standardization. Common quantitative scalar evaluation metrics such as sensitivity and specificity can often be misleading depending on the requirements of the application. Evaluation metrics must ultimately reflect the needs of users yet be sufficiently sensitive to guide algorithm development. Feedback from critical care clinicians who use automated event detection software in clinical applications has been overwhelmingly emphatic that a low false alarm rate, typically measured in units of the number of errors per 24 hours, is the single most important criterion for user acceptance. Though using a single metric is not often as insightful as examining performance over a range of operating conditions, there is a need for a single scalar figure of merit. In this paper, we discuss the deficiencies of existing metrics for a seizure detection task and propose several new metrics that offer a more balanced view of performance. We demonstrate these metrics on a seizure detection task based on the TUH EEG Corpus. We show that two promising metrics are a measure based on a concept borrowed from the spoken term detection literature, Actual Term-Weighted Value, and a new metric, Time-Aligned Event Scoring (TAES), that accounts for the temporal alignment of the hypothesis to the reference annotation. We also demonstrate that state of the art technology based on deep learning, though impressive in its performance, still needs significant improvement before it will meet very strict user acceptance guidelines.