A senior Ukrainian official reported heavy fighting in the northeast of the country on Sunday, with Kyiv's forces holding their lines and making gains in some areas. Russia's military said it had halted Ukrainian forces in the northeast. The military also said it brought down three Ukrainian drones that had tried to strike Moscow and damaged a high-rise building reported to house government offices. Ukrainian President Volodymyr Zelenskyy described Sunday as "a good day, a powerful day" at the front -- particularly near Bakhmut, where Ukrainian forces say they are retaking ground lost when Russian forces took the city in May.

The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities targeting product-grade and modern robotic systems. Following ROS 2's example, the mobile robotics ecosystem has been fully redesigned based on the transformed needs of modern robots and is experiencing active development not seen since its inception. This paper comes from the desks of the key ROS Navigation maintainers to review and analyze the state of the art of robotics navigation in ROS 2. This includes new systems without parallel in ROS 1 or other similar mobile robotics frameworks. We discuss current research products and historically robust methods that provide differing behaviors and support for most every robot type. This survey consists of overviews, comparisons, and expert insights organized by the fundamental problems in the field. Some of these implementations have yet to be described in literature and many have not been benchmarked relative to others. We end by providing a glimpse into the future of the ROS 2 mobile robotics ecosystem.

The Defense Advanced Research Projects Agency (DARPA) OFFensive Swarm-Enabled Tactics program's goal of launching 250 unmanned aerial and ground vehicles from a limited sized launch zone was a daunting challenge. The swarm's aerial vehicles were primarily multirotor platforms, which can efficiently be launched en masse. Each field exercise expected the deployment of an even larger swarm. While the launch zone's spatial area increased with each field exercise, the relative space for each vehicle was not necessarily increased, considering the increasing size of the swarm and the vehicles' associated GPS error; however, safe mission deployment and execution were expected. At the same time, achieving the mission goals required maximizing efficiency of the swarm's performance by reducing congestion that blocked vehicles from completing tactic assignments. Congestion analysis conducted before the final field exercise focused on adjusting various constraints to optimize the swarm's deployment without reducing safety. During the field exercise, data was collected that permitted analyzing the number and durations of individual vehicle blockages' impact on the resulting congestion. After the field exercise, additional analyses used the mission plan to validate the use of simulation for analyzing congestion.

The development of safety-oriented research and applications requires fine-grain vehicle trajectories that not only have high accuracy, but also capture substantial safety-critical events. However, it would be challenging to satisfy both these requirements using the available vehicle trajectory datasets do not have the capacity to satisfy both.This paper introduces the CitySim dataset that has the core objective of facilitating safety-oriented research and applications. CitySim has vehicle trajectories extracted from 1140 minutes of drone videos recorded at 12 locations. It covers a variety of road geometries including freeway basic segments, signalized intersections, stop-controlled intersections, and control-free intersections. CitySim was generated through a five-step procedure that ensured trajectory accuracy. The five-step procedure included video stabilization, object filtering, multi-video stitching, object detection and tracking, and enhanced error filtering. Furthermore, CitySim provides the rotated bounding box information of a vehicle, which was demonstrated to improve safety evaluations. Compared with other video-based critical events, including cut-in, merge, and diverge events, which were validated by distributions of both minimum time-to-collision and minimum post-encroachment time. In addition, CitySim had the capability to facilitate digital-twin-related research by providing relevant assets, such as the recording locations' three-dimensional base maps and signal timings.

Generative AI, the most popular current approach to AI, consists of large language models (LLMs) that are trained to produce outputs that are plausible, but not necessarily correct. Although their abilities are often uncanny, they are lacking in aspects of reasoning, leading LLMs to be less than completely trustworthy. Furthermore, their results tend to be both unpredictable and uninterpretable. We lay out 16 desiderata for future AI, and discuss an alternative approach to AI which could theoretically address many of the limitations associated with current approaches: AI educated with curated pieces of explicit knowledge and rules of thumb, enabling an inference engine to automatically deduce the logical entailments of all that knowledge. Even long arguments produced this way can be both trustworthy and interpretable, since the full step-by-step line of reasoning is always available, and for each step the provenance of the knowledge used can be documented and audited. There is however a catch: if the logical language is expressive enough to fully represent the meaning of anything we can say in English, then the inference engine runs much too slowly. That's why symbolic AI systems typically settle for some fast but much less expressive logic, such as knowledge graphs. We describe how one AI system, Cyc, has developed ways to overcome that tradeoff and is able to reason in higher order logic in real time. We suggest that any trustworthy general AI will need to hybridize the approaches, the LLM approach and more formal approach, and lay out a path to realizing that dream.

Legal judgment prediction is the task of predicting the outcome of court cases on a given text description of facts of cases. These tasks apply Natural Language Processing (NLP) techniques to predict legal judgment results based on facts. Recently, large-scale public datasets and NLP models have increased research in areas related to legal judgment prediction systems. For such systems to be practically helpful, they should be robust from adversarial attacks. Previous works mainly focus on making a neural legal judgement system; however, significantly less or no attention has been given to creating a robust Legal Judgement Prediction(LJP) system. We implemented adversarial attacks on early existing LJP systems and found that none of them could handle attacks. In this work, we proposed an approach for making robust LJP systems. Extensive experiments on three legal datasets show significant improvements in our approach over the state-of-the-art LJP system in handling adversarial attacks. To the best of our knowledge, we are the first to increase the robustness of early-existing LJP systems.

The Metadata Object Description Schema (MODS) was developed to describe bibliographic concepts and metadata and is maintained by the Library of Congress. Its authoritative version is given as an XML schema based on an XML mindset which means that it has significant limitations for use in a knowledge graphs context. We have therefore developed the Modular MODS Ontology (MMODS-O) which incorporates all elements and attributes of the MODS XML schema. In designing the ontology, we adopt the recent Modular Ontology Design Methodology (MOMo) with the intention to strike a balance between modularity and quality ontology design on the one hand, and conservative backward compatibility with MODS on the other.

An open research question has been whether a single human can supervise a true heterogeneous swarm of robots completing tasks in real world environments. A general concern is whether or not the human's workload will be taxed to the breaking point. The Defense Advanced Research Projects Agency's OFFsensive Swarm-Enabled Tactics program's field exercises that occurred at U.S. Army urban training sites provided the opportunity to understand the impact of achieving such swarm deployments. The Command and Control of Aggregate Swarm Tactics integrator team's swarm commander users the heterogeneous robot swarm to conduct relevant missions. During the final OFFSET program field exercise, the team collected objective and subjective metrics related to teh swarm commander's human performance. A multi-dimensional workload algorithm that estimates overall workload based on five components of workload was used to analyze the results. While the swarm commander's workload estimate did cross the overload threshold frequently, the swarm commander was able to successfully complete the missions, often under challenging operational conditions. The presented results demonstrate that a single human can deploy a swarm of 100 heterogeneous robots to conduct real-world missions.

Network Intrusion Detection System (NIDS) is an essential tool in securing cyberspace from a variety of security risks and unknown cyberattacks. A number of solutions have been implemented for Machine Learning (ML), and Deep Learning (DL) based NIDS. However, all these solutions are vulnerable to adversarial attacks, in which the malicious actor tries to evade or fool the model by injecting adversarial perturbed examples into the system. The main aim of this research work is to study powerful adversarial attack algorithms and their defence method on DL-based NIDS. Fast Gradient Sign Method (FGSM), Jacobian Saliency Map Attack (JSMA), Projected Gradient Descent (PGD) and Carlini & Wagner (C&W) are four powerful adversarial attack methods implemented against the NIDS. As a defence method, Adversarial Training is used to increase the robustness of the NIDS model. The results are summarized in three phases, i.e., 1) before the adversarial attack, 2) after the adversarial attack, and 3) after the adversarial defence. The Canadian Institute for Cybersecurity Intrusion Detection System 2017 (CICIDS-2017) dataset is used for evaluation purposes with various performance measurements like f1-score, accuracy etc.

Which technological linkages affect the sector's ability to innovate? How do these effects transmit through the technology space? This paper answers these two key questions using novel methods of text mining and network analysis. We examine technological interdependence across sectors over a period of half a century (from 1976 to 2021) by analyzing the text of 6.5 million patents granted by the United States Patent and Trademark Office (USPTO), and applying network analysis to uncover the full spectrum of linkages existing across technology areas. We demonstrate that patent text contains a wealth of information often not captured by traditional innovation metrics, such as patent citations. By using network analysis, we document that indirect linkages are as important as direct connections and that the former would remain mostly hidden using more traditional measures of indirect linkages, such as the Leontief inverse matrix. Finally, based on an impulse-response analysis, we illustrate how technological shocks transmit through the technology (network-based) space, affecting the innovation capacity of the sectors.