On November 17, 2023, OpenAI's board of directors ousted co-founder and chief executive Sam Altman. In an official post on the company's website, it was stated that "the board no longer has confidence in his ability to continue leading OpenAI". The removal was predicated by employee concerns about his handling of artificial intelligence safety, and allegations of abusive behavior. Altman was reinstated on November 22 after pressure from employees and investors. The removal and subsequent reinstatement caused widespread reactions, including impacts felt in the financial markets and technology sector. Microsoft, a partner of OpenAI, received little notice of the removal and experienced a drop in the share price of its stock. The removal also promoted interest in investigations from regulatory agencies. == Background == === OpenAI === OpenAI is an artificial intelligence firm founded in December 2015 as a non-profit entity. The for-profit division of the organization released ChatGPT in November 2022, contributing to a resurgence in generative artificial intelligence funding. The board of directors of the controlling non-profit formerly comprised chief scientist Ilya Sutskever, as well as Adam D'Angelo, chief executive of Quora, entrepreneur Tasha McCauley, and Helen Toner, strategy director for the Center for Security and Emerging Technology. As of October 2023, the company is valued at US$80 billion and was set to bring in US$1 billion in revenue. Altman has described OpenAI's relationship with Microsoft as the "best bromance in tech". OpenAI is uniquely structured, an intentional decision to avoid investor control. A board of directors controls the non-profit OpenAI, Inc. The non-profit owns and controls a for-profit company itself controlling a capped-profit company, OpenAI Global, LLC and a holding company owned by employees and other investors. The holding company is the majority owner of OpenAI Global, LLC.; Microsoft owns a minority stake in the capped-profit company. OpenAI's bylaws, enacted in January 2016, allow a majority of its board of directors to remove any director without prior warning or a formal meeting with written consent. === Sam Altman === Sam Altman is a co-founder of OpenAI and its former chief executive; Altman took over the company following co-chair Elon Musk's resignation in 2018. Under Altman, OpenAI has shifted to becoming a for-profit entity. Altman is credited with convincing Microsoft chief executive Satya Nadella with investing US$10 billion in cash and computing credits into OpenAI and leading several tender offer transactions that tripled the company's valuation. Altman testified before the United States Congress speaking critically of artificial intelligence and appeared at the 2023 AI Safety Summit. In the days leading up to his removal, Altman made several public appearances, announcing the GPT-4 Turbo platform at OpenAI's DevDay conference, attending APEC United States 2023, and speaking at an event related to Burning Man. == Events leading up to the removal == The resignation of LinkedIn co-founder Reid Hoffman, venture capitalist Shivon Zilis, and former Republican representative Will Hurd from the board allowed the remaining members to remove Altman. According to Kara Swisher and The Wall Street Journal, Sutskever was instrumental in Altman's removal. Disagreements over the safety of artificial intelligence divided employees prior to Altman's removal. The release of ChatGPT created divisions with OpenAI as a for-profit company without considerations for the safety of artificial intelligence and a non-profit cautious of artificial intelligence's capabilities; in a staff email sent in 2019 and obtained by The Atlantic, Altman referred to these divisions as "tribes". Prior to his removal, Altman was seeking billions from Middle Eastern sovereign wealth funds to develop an artificial intelligence chip to compete with Nvidia and courted SoftBank chairman Masayoshi Son to develop artificial intelligence hardware with former Apple designer Jony Ive. Sutskever and his allies opposed these efforts, viewing them as unjustly using the OpenAI name. Altman reduced Sutskever's role in October 2023, furthering divisions; Sutskever successfully appealed to several members of the board. Swisher and The Verge reporter Alex Heath stated that opposition to Altman's profit-driven strategy culminated in the DevDay conference in which Altman announced custom ChatGPT instances. According to Axios, the removal was driven by growing discontent and distrust with Altman. On November 22, 2023, reports emerged suggesting that Sam Altman's dismissal from OpenAI might be linked to his alleged mishandling of a significant breakthrough in the organization's secretive project codenamed Q. According to sources within OpenAI, Q is aimed at developing AI capabilities in logical and mathematical reasoning, and reportedly involves performing math on the level of grade-school students. Concerns about Altman's response to this development, specifically regarding the potential safety implications of the discovery, were reportedly raised to the company's board shortly before his firing. A report from The Washington Post in December stated that OpenAI's board of directors were concerned over Altman's allegedly abusive behavior; the complaints were purportedly a major factor in his removal. The Post previously reported that Altman's alleged pattern of deception and subversiveness that ostensibly resulted in his removal from Y Combinator ultimately resulted in the board's decision to remove him. In April 2026, an investigative report from The New Yorker found that Sutskever and others, in response to the board's request, had compiled an approximately 70-page-long annotated dossier consisting of internal communications, documents, and photos. The dossier claimed that Altman "exhibits a consistent pattern of [...] Lying", and that Altman misrepresented information to the company's senior management and board, particularly regarding safety issues. == Removal == On November 17, 2023, at approximately noon PST, OpenAI's board of directors ousted Altman effective immediately following a "deliberative review process". The board concluded that Altman was not "consistently candid in his communications". Altman was informed of his removal five to ten minutes before it occurred on a Google Meet while watching the Las Vegas Grand Prix. Within thirty minutes, Sutskever invited OpenAI chairman and president Greg Brockman to a Google Meet to inform him of Altman's removal. According to an internal memo obtained by Axios, the removal was not due to "malfeasance", and OpenAI chief executive Emmett Shear denied accusations that the removal was due to disagreements. The board publicly announced Altman's removal thirty minutes later. Chief Technology Officer Mira Murati was immediately appointed to interim chief executive officer. Hours after Altman's removal, Brockman resigned as chairman, joined by director of research Jakub Pachocki and researchers Aleksander Mądry and Szymon Sidor. During an all-hands meeting, Sutskever defended the ouster and denied accusations of a hostile takeover. An OpenAI representative requested former board member Will Hurd's presence. == Reinstatement == According to The New Yorker, Altman retreated to his San Francisco home and enlisted the help of communications consultant Chris Lehane and Airbnb chief executive Brian Chesky, as well as former staff and a legal team, to plan his reinstatement. Lehane encouraged Altman to engage on social media, while Chesky sent a journalist negative information about the board. Altman told interim CEO Murati that his team was conducting opposition research on her and the individuals responsible for his removal; Altman later stated he did not remember saying this. Altman insisted multiple times that all board members who supported his removal should resign. Tiger Global Management and Sequoia Capital had attempted to reinstate Altman, according to The Information; Bloomberg News reported that Microsoft and Thrive Capital were seeking Altman's reinstatement. On November 18, The Verge reported that OpenAI's board of directors discussed reinstating Altman. The board agreed in principle to resign and to allow Altman to return, but missed the deadline. According to The Verge, Altman was ambivalent about returning and would seek significant changes to the company, including replacing the board. A list of directors had been prepared by investors in the event that the board steps down, and purportedly included former Salesforce executive Bret Taylor. According to chief strategy officer Jason Kwon, OpenAI was optimistic it could return Altman, Brockman, and other employees. On November 19, Altman and Brockman appeared at OpenAI's headquarters to negotiate, mediated by Nadella. According to Bloomberg News, Murati, Kwon, and chief operating officer Brad Lightcap were pushing for a new board of direc
Inverse depth parametrization
In computer vision, the inverse depth parametrization is a parametrization used in methods for 3D reconstruction from multiple images such as simultaneous localization and mapping (SLAM). Given a point p {\displaystyle \mathbf {p} } in 3D space observed by a monocular pinhole camera from multiple views, the inverse depth parametrization of the point's position is a 6D vector that encodes the optical centre of the camera c 0 {\displaystyle \mathbf {c} _{0}} when in first observed the point, and the position of the point along the ray passing through p {\displaystyle \mathbf {p} } and c 0 {\displaystyle \mathbf {c} _{0}} . Inverse depth parametrization generally improves numerical stability and allows to represent points with zero parallax. Moreover, the error associated to the observation of the point's position can be modelled with a Gaussian distribution when expressed in inverse depth. This is an important property required to apply methods, such as Kalman filters, that assume normality of the measurement error distribution. The major drawback is the larger memory consumption, since the dimensionality of the point's representation is doubled. == Definition == Given 3D point p = ( x , y , z ) {\displaystyle \mathbf {p} =(x,y,z)} with world coordinates in a reference frame ( e 1 , e 2 , e 3 ) {\displaystyle (e_{1},e_{2},e_{3})} , observed from different views, the inverse depth parametrization y {\displaystyle \mathbf {y} } of p {\displaystyle \mathbf {p} } is given by: y = ( x 0 , y 0 , z 0 , θ , ϕ , ρ ) {\displaystyle \mathbf {y} =(x_{0},y_{0},z_{0},\theta ,\phi ,\rho )} where the first five components encode the camera pose in the first observation of the point, being c 0 = ( x 0 , y 0 , z 0 ) {\displaystyle \mathbf {c_{0}} =(x_{0},y_{0},z_{0})} the optical centre, ϕ {\displaystyle \phi } the azimuth, θ {\displaystyle \theta } the elevation angle, and ρ = 1 ‖ p − c 0 ‖ {\displaystyle \rho ={\frac {1}{\left\Vert \mathbf {p} -\mathbf {c} _{0}\right\Vert }}} the inverse depth of p {\displaystyle p} at the first observation.
DABUS
DABUS (Device for the Autonomous Bootstrapping of Unified Sentience) is an artificial intelligence (AI) system created by Stephen Thaler. It reportedly conceived of two novel products — a food container constructed using fractal geometry, which enables rapid reheating, and a flashing beacon for attracting attention in an emergency. The filing of patent applications designating DABUS as inventor has led to decisions by patent offices and courts on whether a patent can be granted for an invention reportedly made by an AI system. == History in different jurisdictions == === Australia === On 17 September 2019, Thaler filed an application to patent a "Food container and devices and methods for attracting enhanced attention," naming DABUS as the inventor. On 21 September 2020, IP Australia found that section 15(1) of the Patents Act 1990 (Cth) is inconsistent with an artificial intelligence machine being treated as an inventor, and Thaler's application had lapsed. Thaler sought judicial review, and on 30 July 2021, the Federal Court set aside IP Australia's decision and ordered IP Australia to reconsider the application. On 13 April 2022, the Full Court of the Federal Court set aside that decision, holding that only a natural person can be an inventor for the purposes of the Patents Act 1990 (Cth) and the Patents Regulations 1991 (Cth), and that such an inventor must be identified for any person to be entitled to a grant of a patent. On 11 November 2022, Thaler was refused special leave to appeal to the High Court. === European Patent Office === On 17 October 2018 and 7 November 2018, Thaler filed two European patent applications with the European Patent Office. The first claimed invention was a "Food Container" and the second was "Devices and Methods for Attracting Enhanced Attention." On 27 January 2020, the EPO rejected the applications on the grounds that the application listed an AI system named DABUS, and not a human, as the inventor, based on Article 81 and Rule 19(1) of the European Patent Convention (EPC). On 21 December 2021, the Board of Appeal of the EPO dismissed Thaler's appeal from the EPO's primary decision. The Board of Appeal confirmed that "under the EPC the designated inventor has to be a person with legal capacity. This is not merely an assumption on which the EPC was drafted. It is the ordinary meaning of the term inventor." === United Kingdom === Similar applications were filed by Thaler to the United Kingdom Intellectual Property Office on 17 October and 7 November 2018. The Office asked Thaler to file statements of inventorship and of right of grant to a patent (Patent Form 7) in respect of each invention within 16 months of the filing date. Thaler filed those forms naming DABUS as the inventor and explaining in some detail why he believed that machines should be regarded as inventors in the circumstances. His application was rejected on the grounds that: (1) naming a machine as inventor did not meet the requirements of the Patents Act 1977; and (2) the IPO was not satisfied as to the manner in which Thaler had acquired rights that would otherwise vest in the inventor. Thaler was not satisfied with the decision and asked for a hearing before an official known as the "hearing officer". By a decision dated 4 December 2019 the hearing officer rejected Thaler's appeal. Thaler appealed against the hearing officer's decision to the Patents Court (a specialist court within the Chancery Division of the High Court of England and Wales that determines patent disputes). On 21 September 2020, Mr Justice Marcus Smith upheld the decision of the hearing officer. On 21 September 2021, Thaler's further appeal to the Court of Appeal was dismissed by Arnold LJ and Laing LJ (Birss LJ dissenting). On 20 December 2023, the UK Supreme Court dismissed a further appeal by Thaler. In its judgment, the court held that an "inventor" under the Patents Act 1977 must be a natural person. === United States === The patent applications on the inventions were refused by the USPTO, which held that only natural persons can be named as inventors in a patent application. Thaler first fought this result by filing a complaint under the Administrative Procedure Act alleging that the decision was "arbitrary, capricious, an abuse of discretion and not in accordance with the law; unsupported by substantial evidence, and in excess of Defendants’ statutory authority." A month later on August 19, 2019, Thaler filed a petition with the USPTO as allowed in 37 C.F.R. § 1.181 stating that DABUS should be the inventor. The judge and Thaler agreed in this case that Thaler himself is unable to receive the patent on behalf of DABUS. In their August 5, 2022, Thaler decision, the US Court of Appeals for the Federal Circuit affirmed that only a natural person could be an inventor, which means that the AI that invents any other type of invention is not addressed by the "who" mentioned in the legislation. === New Zealand === On January 31, 2022, the Intellectual Property Office of New Zealand (IPONZ) decided that a patent application (776029) filed by Stephen Thaler was void, on the basis that no inventor was identified on the patent application. IPONZ determined that DABUS could not be "an actual devisor of the invention" as required by the Patents Act 2013, and that this must be a natural person as held by the previous patent offices above. The High Court of New Zealand confirmed the decision in 2023. === South Africa === On 24 June 2021, the South African Companies and Intellectual Property Commission (CIPC) accepted Dr Thaler's Patent Cooperation Treaty, for a patent in respect of inventions generated by DABUS. In July 2021, the CIPC released a notice of issuance for the patent. It is the first patent granted for an AI invention. === Switzerland === On June 26, 2025, the Swiss Federal Administrative Court ruled that artificial intelligence systems such as DABUS cannot be listed as inventors in patent applications. The court upheld the existing practice of the Swiss Federal Institute of Intellectual Property (IPI), which requires that only natural persons can be recognized as inventors under Swiss patent law. The case concerned a patent application, which sought to designate DABUS as the sole inventor of a food container designed with a fractal geometry to enhance heat distribution. The IPI had rejected the application, arguing that both the absence of a human inventor and the attribution of inventorship to an AI system were inadmissible. While the court dismissed Thaler's main request, it accepted a subsidiary request: if a human applicant recognizes and files a patent based on an AI-generated invention, that person may be considered the inventor. As a result, the application may proceed with Thaler listed as the inventor. The decision (B-2532/2024) can still be appealed to the Swiss Federal Supreme Court.
Gibberlink
GibberLink is an acoustic data transmission project, with an open-source client available on GitHub, in which two conversational AI agents switch from speaking to one another in a Human-listenable language (such as English) to their own unique language that consists of a sound-level protocol after confirming they are both AI agents. The project was created by Anton Pidkuiko and Boris Starkov. == Reception == The project won the global top prize at the ElevenLabs Worldwide Hackathon. It has also been cited as raising questions around AI ethics and oversight. On February 23, 2025, a YouTube video of two independent conversational ElevenLabs AI agents being prompted to chat about booking a hotel (one as a caller, one as a receptionist) received coverage for going viral. In this video, both agents are prompted to switch to ggwave data-over-sound protocol when they identify the other side as AI, and keep speaking in English otherwise.
Learning rate
In machine learning and statistics, the learning rate is a tuning parameter in an optimization algorithm that determines the step size at each iteration while moving toward a minimum of a loss function. Since it influences to what extent newly acquired information overrides old information, it metaphorically represents the speed at which a machine learning model "learns". In the adaptive control literature, the learning rate is commonly referred to as gain. In setting a learning rate, there is a trade-off between the rate of convergence and overshooting. While the descent direction is usually determined from the gradient of the loss function, the learning rate determines how big a step is taken in that direction. Too high a learning rate will make the learning jump over minima, but too low a learning rate will either take too long to converge or get stuck in an undesirable local minimum. In order to achieve faster convergence, prevent oscillations and getting stuck in undesirable local minima the learning rate is often varied during training either in accordance to a learning rate schedule or by using an adaptive learning rate. The learning rate and its adjustments may also differ per parameter, in which case it is a diagonal matrix that can be interpreted as an approximation to the inverse of the Hessian matrix in Newton's method. The learning rate is related to the step length determined by inexact line search in quasi-Newton methods and related optimization algorithms. == Learning rate schedule == Initial rate can be left as system default or can be selected using a range of techniques. A learning rate schedule changes the learning rate during learning and is most often changed between epochs/iterations. This is mainly done with two parameters: decay and momentum. There are many different learning rate schedules but the most common are time-based, step-based and exponential. Decay serves to settle the learning in a nice place and avoid oscillations, a situation that may arise when too high a constant learning rate makes the learning jump back and forth over a minimum, and is controlled by a hyperparameter. Momentum is analogous to a ball rolling down a hill; we want the ball to settle at the lowest point of the hill (corresponding to the lowest error). Momentum both speeds up the learning (increasing the learning rate) when the error cost gradient is heading in the same direction for a long time and also avoids local minima by 'rolling over' small bumps. Momentum is controlled by a hyperparameter analogous to a ball's mass which must be chosen manually—too high and the ball will roll over minima which we wish to find, too low and it will not fulfil its purpose. The formula for factoring in the momentum is more complex than for decay but is most often built in with deep learning libraries such as Keras. Time-based learning schedules alter the learning rate depending on the learning rate of the previous time iteration. Factoring in the decay the mathematical formula for the learning rate is: η n + 1 = η 0 1 + d n {\displaystyle \eta _{n+1}={\frac {\eta _{0}}{1+dn}}} where η {\displaystyle \eta } is the learning rate, η 0 {\displaystyle \eta _{0}} is the original learning rate, d {\displaystyle d} is a decay parameter and n {\displaystyle n} is the iteration step. Step-based learning schedules changes the learning rate according to some predefined steps. The decay application formula is here defined as: η n = η 0 d ⌊ 1 + n r ⌋ {\displaystyle \eta _{n}=\eta _{0}d^{\left\lfloor {\frac {1+n}{r}}\right\rfloor }} where η n {\displaystyle \eta _{n}} is the learning rate at iteration n {\displaystyle n} , η 0 {\displaystyle \eta _{0}} is the initial learning rate, d {\displaystyle d} is how much the learning rate should change at each drop (0.5 corresponds to a halving) and r {\displaystyle r} corresponds to the drop rate, or how often the rate should be dropped (10 corresponds to a drop every 10 iterations). The floor function ( ⌊ … ⌋ {\displaystyle \lfloor \dots \rfloor } ) here drops the value of its input to 0 for all values smaller than 1. Exponential learning schedules are similar to step-based, but instead of steps, a decreasing exponential function is used. The mathematical formula for factoring in the decay is: η n = η 0 e − d n {\displaystyle \eta _{n}=\eta _{0}e^{-dn}} where d {\displaystyle d} is a decay parameter. == Adaptive learning rate == The issue with learning rate schedules is that they all depend on hyperparameters that must be manually chosen for each given learning session and may vary greatly depending on the problem at hand or the model used. To combat this, there are many different types of adaptive gradient descent algorithms such as Adagrad, Adadelta, RMSprop, and Adam which are generally built into deep learning libraries such as Keras.
Dropbox Carousel
Dropbox Carousel was a photo and video management app offered by Dropbox. The third-party native app, available on Android and iOS, allowed users to store, manage, and organize photos. Photos were organized by date, time and event and backed up on Dropbox. It competed in this space against other online photo storage services such as Google's Google Photos, Apple's iCloud, and Yahoo's Flickr. Chris Lee, Dropbox's head of product development for Carousel described the app as an add-on to Dropbox, a “dedicated experience for photos and videos” and a space for “reliving personal memories”. == History == Mailbox founder, Gentry Underwood unveiled Carousel at a gathering in San Francisco on April 9, 2014. Much of the features in Carousel come from Snapjoy, a photo start-up, that Dropbox acquired on December 19, 2012. When Carousel was launched, it marked amongst many others, a series of acquisitions made by Dropbox to prep up before opening its stock for public offering. The acquisitions would help demonstrate its expansive product offerings pitching potential profitability to investors. In December 2015, Dropbox announced that Carousel would be shut down and some Carousel features would be integrated into the primary Dropbox application. On March 31, 2016, Carousel was deactivated. == Features == Carousel prompted users to free local storage once it had synced and backed-up local photos to the cloud. Flashback was a feature (enabled by default) that showed past photos or videos taken the same day, a year, or some years back. Flashback used an algorithm designed to identify human faces - resulting in greater likelihood of the user's picture or people in the user's close circle appearing. A scrollable timeline, which was earlier a scroll wheel, at the bottom let the user scroll to photo(s) at a specific date with a finger swipe.
Action model learning
Action model learning (sometimes abbreviated action learning) is an area of machine learning concerned with the creation and modification of a software agent's knowledge about the effects and preconditions of the actions that can be executed within its environment. This knowledge is usually represented in a logic-based action description language and used as input for automated planners. Learning action models is important when goals change. When an agent acted for a while, it can use its accumulated knowledge about actions in the domain to make better decisions. Thus, learning action models differs from reinforcement learning. It enables reasoning about actions instead of expensive trials in the world. Action model learning is a form of inductive reasoning, where new knowledge is generated based on the agent's observations. The usual motivation for action model learning is the fact that manual specification of action models for planners is often a difficult, time-consuming, and error-prone task (especially in complex environments). == Action models == Given a training set E {\displaystyle E} consisting of examples e = ( s , a , s ′ ) {\displaystyle e=(s,a,s')} , where s , s ′ {\displaystyle s,s'} are observations of a world state from two consecutive time steps t , t ′ {\displaystyle t,t'} and a {\displaystyle a} is an action instance observed in time step t {\displaystyle t} , the goal of action model learning in general is to construct an action model ⟨ D , P ⟩ {\displaystyle \langle D,P\rangle } , where D {\displaystyle D} is a description of domain dynamics in action description formalism like STRIPS, ADL or PDDL and P {\displaystyle P} is a probability function defined over the elements of D {\displaystyle D} . However, many state of the art action learning methods assume determinism and do not induce P {\displaystyle P} . In addition to determinism, individual methods differ in how they deal with other attributes of domain (e.g. partial observability or sensoric noise). == Action learning methods == === State of the art === Recent action learning methods take various approaches and employ a wide variety of tools from different areas of artificial intelligence and computational logic. As an example of a method based on propositional logic, we can mention SLAF (Simultaneous Learning and Filtering) algorithm, which uses agent's observations to construct a long propositional formula over time and subsequently interprets it using a satisfiability (SAT) solver. Another technique, in which learning is converted into a satisfiability problem (weighted MAX-SAT in this case) and SAT solvers are used, is implemented in ARMS (Action-Relation Modeling System). Two mutually similar, fully declarative approaches to action learning were based on logic programming paradigm Answer Set Programming (ASP) and its extension, Reactive ASP. In another example, bottom-up inductive logic programming approach was employed. Several different solutions are not directly logic-based. For example, the action model learning using a perceptron algorithm or the multi level greedy search over the space of possible action models. In the older paper from 1992, the action model learning was studied as an extension of reinforcement learning. Nonetheless, further algorithms can be found that operate under different assumptions: FAMA can work even when some observations are missing, and it produces a general (lifted) planning model. It treats learning an action model like a planning problem, making sure the learned model matches the observations given. NOLAM can learn general action models even from noisy or imperfect data. LOCM focuses only on the order of actions in the data, ignoring any details about the states between those actions. The family of safe action model (SAM) learning methods create models that guarantee any plans made with them will actually work in the real world. There's also an extension called N-SAM that can learn action models with numeric conditions and effects. Additionally, numeric action models like N-SAM can be used to improve reinforcement learning (RL) performance through the RAMP algorithm. === Literature === Most action learning research papers are published in journals and conferences focused on artificial intelligence in general (e.g. Journal of Artificial Intelligence Research (JAIR), Artificial Intelligence, Applied Artificial Intelligence (AAI) or AAAI conferences). Despite mutual relevance of the topics, action model learning is usually not addressed in planning conferences like the International Conference on Automated Planning and Scheduling (ICAPS).