Tactical NAV

Tactical NAV, also known as TACNAV-X, is a location-based tracking app designed for use by military personnel. The app is primarily designed to assist in pinpointing enemy fire and mapping waypoints. Tactical NAV also helps users efficiently relay critical information to tactical operations centers for prompt decision-making regarding airstrikes or medical evacuations. The TACNAV-X platform is intended to enhance situational awareness, refine navigation capabilities, and assist in tactical decision-making across various operational environments. == Overview == Tactical NAV allows users to pinpoint enemy fire. == History == Tactical NAV was designed by U.S. Army Captain Jonathan J. Springer, a Field Artillery officer serving as a Battalion Fire Support Officer (FSO) in the 101st Airborne Division. Springer conceived the idea for the app during his third tour in Afghanistan in support of Operation Enduring Freedom. On June 25, 2010, after a rocket attack by the Taliban killed two soldiers in his battalion, he was inspired to create an app that would prevent similar losses in the future, enhance situational awareness, and assist soldiers serving on combat deployments. In 2010, Springer founded TacNav Systems (formerly AppDaddy Technologies) to develop mobile applications for use by military personnel. He tested the app during combat operations in eastern Afghanistan and verified TACNAV-X's accuracy using DAGRs, AFATDS, Falcon View, CPOF, ATAK, and other approved Department of Defense (DoD) systems. As of 2012, the app had been downloaded 8,000 times.

Large language model

A large language model (LLM) is a neural network trained on a vast amount of text for natural language processing tasks, especially language generation. LLMs can typically generate, summarize, translate and analyze text in many contexts, and are a foundational technology behind modern chatbots. Biased or inaccurate training data can make an LLM's output less reliable. As of 2026, the most capable LLMs are based on transformer architectures, which, according to the 2017 paper "Attention Is All You Need", can be more efficient and parallelizable than earlier statistical and recurrent neural network models. Benchmark evaluations for LLMs attempt to measure model reasoning, factual accuracy, alignment, and safety. == History == Before the emergence of transformer-based models in 2017, some language models were considered large relative to the computational and data constraints of their time. In the early 1990s, IBM's statistical models pioneered word alignment techniques for machine translation, laying the groundwork for corpus-based language modeling. In 2001, a smoothed n-gram model, such as those employing Kneser–Ney smoothing, trained on 300 million words, achieved state-of-the-art perplexity on benchmark tests. During the 2000s, with the rise of widespread internet access, researchers began compiling massive text datasets from the web ("web as corpus") to train statistical language models. Moving beyond n-gram models, researchers started in 2000 to use neural networks as language models. Following the breakthrough of deep neural networks in image classification around 2012, similar architectures were adapted for language tasks. This shift was marked by the development of word embeddings (e.g., Word2Vec by Mikolov in 2013) and sequence-to-sequence (seq2seq) models using LSTM. In 2016, Google transitioned its translation service to neural machine translation (NMT), replacing statistical phrase-based models with deep recurrent neural networks. These early NMT systems used LSTM-based encoder-decoder architectures, as they preceded the invention of transformers. At the 2017 NeurIPS conference, Google researchers introduced the transformer architecture in their landmark paper "Attention Is All You Need". This paper's goal was to improve upon 2014 seq2seq technology, and was based mainly on the attention mechanism developed by Bahdanau et al. in 2014. The following year in 2018, BERT was introduced and quickly became "ubiquitous". Though the original transformer has both encoder and decoder blocks, BERT is an encoder-only model. Academic and research usage of BERT began to decline in 2023, following rapid improvements in the abilities of decoder-only models (such as GPT) to solve tasks via prompting. Although decoder-only GPT-1 was introduced in 2018, it was GPT-2 in 2019 that caught widespread attention because OpenAI claimed to have initially deemed it too powerful to release publicly, out of fear of malicious use. GPT-3 in 2020 went a step further and as of 2025 is available only via API with no offering of downloading the model to execute locally. But it was the consumer-facing chatbot ChatGPT in late 2022 that received extensive media coverage and public attention by 2023. The 2023 GPT-4 was praised for its increased accuracy and as a "holy grail" for its multimodal capabilities. OpenAI did not reveal the high-level architecture and the number of parameters of GPT-4. The release of ChatGPT led to an uptick in LLM usage across several research subfields of computer science, including robotics, software engineering, and societal impact work. In 2024, OpenAI released the reasoning model OpenAI o1, which generates long chains of thought before returning a final answer. Many LLMs with parameter counts comparable to those of OpenAI's GPT series have been developed. Since 2022, weights-available models have been gaining popularity, especially at first with BLOOM and LLaMA, though both have restrictions on usage and deployment. Mistral AI's open-weight models Mistral 7B and Mixtral 8x7B have a more permissive Apache License. In January 2025, DeepSeek released DeepSeek R1, a 671-billion-parameter open-weight model that performs comparably to OpenAI o1 but at a much lower price per token for users. Since 2023, many LLMs have been trained to be multimodal, having the ability to also process or generate other types of data, such as images, audio, or 3D meshes. Open-weight LLMs have become more influential since 2023. Per Vake et al. (2025), community-driven contributions to open-weight models improve their efficiency and performance via collaborative platforms such as Hugging Face. == Dataset preprocessing == === Tokenization === As machine learning algorithms process numbers rather than text, the text must be converted to numbers. In the first step, a vocabulary is decided upon, then integer indices are arbitrarily but uniquely assigned to each vocabulary entry, and finally, an embedding is associated with the integer index. Algorithms include byte-pair encoding (BPE) and WordPiece. There are also special tokens serving as control characters, such as [MASK] for masked-out token (as used in BERT), and [UNK] ("unknown") for characters not appearing in the vocabulary. Also, some special symbols are used to denote special text formatting. For example, "Ġ" denotes a preceding whitespace in RoBERTa and GPT and "##" denotes continuation of a preceding word in BERT. For example, the BPE tokenizer used by the legacy version of GPT-3 would split tokenizer: texts -> series of numerical "tokens" as Tokenization also compresses the datasets. Because LLMs generally require input to be an array that is not jagged, the shorter texts must be "padded" until they match the length of the longest one. ==== Byte-pair encoding ==== As an example, consider a tokenizer based on byte-pair encoding. In the first step, all unique characters (including blanks and punctuation marks) are treated as an initial set of n-grams (i.e. initial set of uni-grams). Successively the most frequent pair of adjacent characters is merged into a bi-gram and all instances of the pair are replaced by it. All occurrences of adjacent pairs of (previously merged) n-grams that most frequently occur together are then again merged into even lengthier n-gram, until a vocabulary of prescribed size is obtained. After a tokenizer is trained, any text can be tokenized by it, as long as it does not contain characters not appearing in the initial-set of uni-grams. === Dataset cleaning === In the context of training LLMs, datasets are typically cleaned by removing low-quality, duplicated, or toxic data. Cleaned datasets can increase training efficiency and lead to improved downstream performance. A trained LLM can be used to clean datasets for training a further LLM. With the increasing proportion of LLM-generated content on the web, data cleaning in the future may include filtering out such content. LLM-generated content can pose a problem if the content is similar to human text (making filtering difficult) but of lower quality (degrading performance of models trained on it). === Synthetic data === Training of largest language models might need more linguistic data than naturally available, or that the naturally occurring data is of insufficient quality. In these cases, synthetic data might be used. == Training == An LLM is a type of foundation model (large X model) trained on language. LLMs can be trained in different ways. In particular, GPT models are first pretrained to predict the next word on a large amount of data, before being fine-tuned. === Cost === Substantial infrastructure is necessary for training the largest models. The tendency towards larger models is visible in the list of large language models. For example, the training of GPT-2 (i.e. a 1.5-billion-parameter model) in 2019 cost $50,000, while training of the PaLM (i.e. a 540-billion-parameter model) in 2022 cost $8 million, and Megatron-Turing NLG 530B (in 2021) cost around $11 million. The qualifier "large" in "large language model" is inherently vague, as there is no definitive threshold for the number of parameters required to qualify as "large". === Fine-tuning === Before being fine-tuned, most LLMs are next-token predictors. The fine-tuning shapes the LLM's behavior via techniques like reinforcement learning from human feedback (RLHF) or constitutional AI. Instruction fine-tuning is a form of supervised learning used to teach LLMs to follow user instructions. In 2022, OpenAI demonstrated InstructGPT, a version of GPT-3 similarly fine-tuned to follow instructions. Reinforcement learning from human feedback (RLHF) involves training a reward model to predict which text humans prefer. Then, the LLM can be fine-tuned through reinforcement learning to better satisfy this reward model. Since humans typically prefer truthful, helpful and harmless answers, RLHF favors such answers. == Architecture == LLMs are generally based on the tra

Log-linear model

A log-linear model is a mathematical model that takes the form of a function whose logarithm equals a linear combination of the parameters of the model, which makes it possible to apply (possibly multivariate) linear regression. That is, it has the general form exp ⁡ ( c + ∑ i w i f i ( X ) ) {\displaystyle \exp \left(c+\sum _{i}w_{i}f_{i}(X)\right)} , in which the fi(X) are quantities that are functions of the variable X, in general a vector of values, while c and the wi stand for the model parameters. The term may specifically be used for: A log-linear plot or graph, which is a type of semi-log plot. Poisson regression for contingency tables, a type of generalized linear model. The specific applications of log-linear models are where the output quantity lies in the range 0 to ∞, for values of the independent variables X, or more immediately, the transformed quantities fi(X) in the range −∞ to +∞. This may be contrasted to logistic models, similar to the logistic function, for which the output quantity lies in the range 0 to 1. Thus the contexts where these models are useful or realistic often depends on the range of the values being modelled.

Principal component analysis

Principal component analysis (PCA) is a linear dimensionality reduction technique with applications in exploratory data analysis, visualization and data preprocessing. The data are linearly transformed onto a new coordinate system such that the directions (principal components) capturing the largest variation in the data can be easily identified. The principal components of a collection of points in a real coordinate space are a sequence of p {\displaystyle p} unit vectors, where the i {\displaystyle i} -th vector is the direction of a line that best fits the data while being orthogonal to the first i − 1 {\displaystyle i-1} vectors. Here, a best-fitting line is defined as one that minimizes the average squared perpendicular distance from the points to the line. These directions (i.e., principal components) constitute an orthonormal basis in which different individual dimensions of the data are linearly uncorrelated. Many studies use the first two principal components in order to plot the data in two dimensions and to visually identify clusters of closely related data points. Principal component analysis has applications in many fields such as population genetics, microbiome studies, and atmospheric science. == Overview == When performing PCA, the first principal component of a set of p {\displaystyle p} variables is the derived variable formed as a linear combination of the original variables that explains the most variance. The second principal component explains the most variance in what is left once the effect of the first component is removed, and we may proceed through p {\displaystyle p} iterations until all the variance is explained. PCA is most commonly used when many of the variables are highly correlated with each other and it is desirable to reduce their number to an independent set. The first principal component can equivalently be defined as a direction that maximizes the variance of the projected data. The i {\displaystyle i} -th principal component can be taken as a direction orthogonal to the first i − 1 {\displaystyle i-1} principal components that maximizes the variance of the projected data. For either objective, it can be shown that the principal components are eigenvectors of the data's covariance matrix. Thus, the principal components are often computed by eigendecomposition of the data covariance matrix or singular value decomposition of the data matrix. PCA is the simplest of the true eigenvector-based multivariate analyses and is closely related to factor analysis. Factor analysis typically incorporates more domain-specific assumptions about the underlying structure and solves eigenvectors of a slightly different matrix. PCA is also related to canonical correlation analysis (CCA). CCA defines coordinate systems that optimally describe the cross-covariance between two datasets while PCA defines a new orthogonal coordinate system that optimally describes variance in a single dataset. Robust and L1-norm-based variants of standard PCA have also been proposed. == History == PCA was invented in 1901 by Karl Pearson, as an analogue of the principal axis theorem in mechanics; it was later independently developed and named by Harold Hotelling in the 1930s. Depending on the field of application, it is also named the discrete Karhunen–Loève transform (KLT) in signal processing, the Hotelling transform in multivariate quality control, proper orthogonal decomposition (POD) in mechanical engineering, singular value decomposition (SVD) of X (invented in the last quarter of the 19th century), eigenvalue decomposition (EVD) of XTX in linear algebra, factor analysis (for a discussion of the differences between PCA and factor analysis see Ch. 7 of Jolliffe's Principal Component Analysis), Eckart–Young theorem (Harman, 1960), or empirical orthogonal functions (EOF) in meteorological science (Lorenz, 1956), empirical eigenfunction decomposition (Sirovich, 1987), quasiharmonic modes (Brooks et al., 1988), spectral decomposition in noise and vibration, and empirical modal analysis in structural dynamics. == Intuition == PCA can be thought of as fitting a p-dimensional ellipsoid to the data, where each axis of the ellipsoid represents a principal component. If some axis of the ellipsoid is small, then the variance along that axis is also small. To find the axes of the ellipsoid, we must first center the values of each variable in the dataset on 0 by subtracting the mean of the variable's observed values from each of those values. These transformed values are used instead of the original observed values for each of the variables. Then, we compute the covariance matrix of the data and calculate the eigenvalues and corresponding eigenvectors of this covariance matrix. Then we must normalize each of the orthogonal eigenvectors to turn them into unit vectors. Once this is done, each of the mutually-orthogonal unit eigenvectors can be interpreted as an axis of the ellipsoid fitted to the data. This choice of basis will transform the covariance matrix into a diagonalized form, in which the diagonal elements represent the variance of each axis. The proportion of the variance that each eigenvector represents can be calculated by dividing the eigenvalue corresponding to that eigenvector by the sum of all eigenvalues. Biplots and scree plots (degree of explained variance) are used to interpret findings of the PCA. == Details == PCA is defined as an orthogonal linear transformation on a real inner product space that transforms the data to a new coordinate system such that the greatest variance by some scalar projection of the data comes to lie on the first coordinate (called the first principal component), the second greatest variance on the second coordinate, and so on. Consider an n × p {\displaystyle n\times p} data matrix, X, with column-wise zero empirical mean (the sample mean of each column has been shifted to zero), where each of the n rows represents a different repetition of the experiment, and each of the p columns gives a particular kind of feature (say, the results from a particular sensor). Mathematically, the transformation is defined by a set of size l {\displaystyle l} (where l {\displaystyle l} is usually selected to be strictly less than p {\displaystyle p} to reduce dimensionality) of p {\displaystyle p} -dimensional vectors of weights or coefficients w ( k ) = ( w 1 , … , w p ) ( k ) {\displaystyle \mathbf {w} _{(k)}=(w_{1},\dots ,w_{p})_{(k)}} that map each row vector x ( i ) = ( x 1 , … , x p ) ( i ) {\displaystyle \mathbf {x} _{(i)}=(x_{1},\dots ,x_{p})_{(i)}} of X to a new vector of principal component scores t ( i ) = ( t 1 , … , t l ) ( i ) {\displaystyle \mathbf {t} _{(i)}=(t_{1},\dots ,t_{l})_{(i)}} , given by t k ( i ) = x ( i ) ⋅ w ( k ) f o r i = 1 , … , n k = 1 , … , l {\displaystyle {t_{k}}_{(i)}=\mathbf {x} _{(i)}\cdot \mathbf {w} _{(k)}\qquad \mathrm {for} \qquad i=1,\dots ,n\qquad k=1,\dots ,l} in such a way that the individual variables t 1 , … , t l {\displaystyle t_{1},\dots ,t_{l}} of t considered over the data set successively inherit the maximum possible variance from X, with each coefficient vector w constrained to be a unit vector. The above may equivalently be written in matrix form as T = X W {\displaystyle \mathbf {T} =\mathbf {X} \mathbf {W} } where T i k = t k ( i ) {\displaystyle {\mathbf {T} }_{ik}={t_{k}}_{(i)}} , X i j = x j ( i ) {\displaystyle {\mathbf {X} }_{ij}={x_{j}}_{(i)}} , and W j k = w j ( k ) {\displaystyle {\mathbf {W} }_{jk}={w_{j}}_{(k)}} . === First component === In order to maximize variance, the first weight vector w(1) thus has to satisfy w ( 1 ) = arg ⁡ max ‖ w ‖ = 1 { ∑ i ( t 1 ) ( i ) 2 } = arg ⁡ max ‖ w ‖ = 1 { ∑ i ( x ( i ) ⋅ w ) 2 } {\displaystyle \mathbf {w} _{(1)}=\arg \max _{\Vert \mathbf {w} \Vert =1}\,\left\{\sum _{i}(t_{1})_{(i)}^{2}\right\}=\arg \max _{\Vert \mathbf {w} \Vert =1}\,\left\{\sum _{i}\left(\mathbf {x} _{(i)}\cdot \mathbf {w} \right)^{2}\right\}} Equivalently, writing this in matrix form gives w ( 1 ) = arg ⁡ max ‖ w ‖ = 1 { ‖ X w ‖ 2 } = arg ⁡ max ‖ w ‖ = 1 { w T X T X w } {\displaystyle \mathbf {w} _{(1)}=\arg \max _{\left\|\mathbf {w} \right\|=1}\left\{\left\|\mathbf {Xw} \right\|^{2}\right\}=\arg \max _{\left\|\mathbf {w} \right\|=1}\left\{\mathbf {w} ^{\mathsf {T}}\mathbf {X} ^{\mathsf {T}}\mathbf {Xw} \right\}} Since w(1) has been defined to be a unit vector, it equivalently also satisfies w ( 1 ) = arg ⁡ max { w T X T X w w T w } {\displaystyle \mathbf {w} _{(1)}=\arg \max \left\{{\frac {\mathbf {w} ^{\mathsf {T}}\mathbf {X} ^{\mathsf {T}}\mathbf {Xw} }{\mathbf {w} ^{\mathsf {T}}\mathbf {w} }}\right\}} The quantity to be maximised can be recognised as a Rayleigh quotient. A standard result for a positive semidefinite matrix such as XTX is that the quotient's maximum possible value is the largest eigenvalue of the matrix, which occurs when w is the corresponding eigenvector. With w(1) found, the first principal component of a data vector

Constructing skill trees

Constructing skill trees (CST) is a hierarchical reinforcement learning algorithm which can build skill trees from a set of sample solution trajectories obtained from demonstration. CST uses an incremental MAP (maximum a posteriori) change point detection algorithm to segment each demonstration trajectory into skills and integrate the results into a skill tree. CST was introduced by George Konidaris, Scott Kuindersma, Andrew Barto and Roderic Grupen in 2010. == Algorithm == CST consists of mainly three parts;change point detection, alignment and merging. The main focus of CST is online change-point detection. The change-point detection algorithm is used to segment data into skills and uses the sum of discounted reward R t {\displaystyle R_{t}} as the target regression variable. Each skill is assigned an appropriate abstraction. A particle filter is used to control the computational complexity of CST. The change point detection algorithm is implemented as follows. The data for times t ∈ T {\displaystyle t\in T} and models Q with prior p ( q ∈ Q ) {\displaystyle p(q\in Q)} are given. The algorithm is assumed to be able to fit a segment from time j + 1 {\displaystyle j+1} to t using model q with the fit probability P ( j , t , q ) {\displaystyle P(j,t,q)_{}^{}} . A linear regression model with Gaussian noise is used to compute P ( j , t , q ) {\displaystyle P(j,t,q)} . The Gaussian noise prior has mean zero, and variance which follows I n v e r s e G a m m a ( v 2 , u 2 ) {\displaystyle \mathrm {InverseGamma} \left({\frac {v}{2}},{\frac {u}{2}}\right)} . The prior for each weight follows N o r m a l ( 0 , σ 2 δ ) {\displaystyle \mathrm {Normal} (0,\sigma ^{2}\delta )} . The fit probability P ( j , t , q ) {\displaystyle P(j,t,q)} is computed by the following equation. P ( j , t , q ) = π − n 2 δ m | ( A + D ) − 1 | 1 2 u v 2 ( y + u ) u + v 2 Γ ( n + v 2 ) Γ ( v 2 ) {\displaystyle P(j,t,q)={\frac {\pi ^{-{\frac {n}{2}}}}{\delta ^{m}}}\left|(A+D)^{-1}\right|^{\frac {1}{2}}{\frac {u^{\frac {v}{2}}}{(y+u)^{\frac {u+v}{2}}}}{\frac {\Gamma ({\frac {n+v}{2}})}{\Gamma ({\frac {v}{2}})}}} Then, CST compute the probability of the changepoint at time j with model q, P t ( j , q ) {\displaystyle P_{t}(j,q)} and P j MAP {\displaystyle P_{j}^{\text{MAP}}} using a Viterbi algorithm. P t ( j , q ) = ( 1 − G ( t − j − 1 ) ) P ( j , t , q ) p ( q ) P j MAP {\displaystyle P_{t}(j,q)=(1-G(t-j-1))P(j,t,q)p(q)P_{j}^{\text{MAP}}} P j MAP = max i , q P j ( i , q ) g ( j − i ) 1 − G ( j − i − 1 ) , ∀ j < t {\displaystyle P_{j}^{\text{MAP}}=\max _{i,q}{\frac {P_{j}(i,q)g(j-i)}{1-G(j-i-1)}},\forall j

Screen generator

A screen generator, also known as a screen painter, screen mapper, or forms generator is a software package (or component thereof) which enables data entry screens to be generated declaratively, by "painting" them on the screen WYSIWYG-style, or through filling-in forms, rather than requiring writing of code to display them manually. 4GLs commonly incorporate a screen generator feature. They are also commonly found bundled with database systems, especially entry-level databases. A screen generator is one aspect of an application generator, which can also include other functions such as report generation and a data dictionary. The earliest screen generators were character-based; by the 1990s, GUI support became common, and then support for generating HTML forms as well. Some screen generators work by generating code to display the screen in a high-level language (for example, COBOL); others store the screen definition in a data file or in database tables, and then have a runtime component responsible for actually displaying the form and receiving and validating user input. == Examples == Examples of screen generators include: IBM Screen Definition Facility II: generates screens for CICS BMS, IMS MFS, ISPF, GDDM and CSP/AD. Performix for Informix. Microsoft Visual Basic the forms component of Microsoft Access Oracle Developer, in particular its Oracle Forms component the QDesign component of PowerHouse SystemBuilder/SB+ the Screen Painter component of SAP's ABAP Workbench the FoxView component of FoxPro. FoxView was originally developed by Luis Castro as a dBASE screen generator named ViewGen; Fox purchased it and bundled it with FoxPro 1.0. Later, Fox replaced Castro's code with their own screen painter code. dBASE included a built-in screen generator in dBASE IV onwards; in dBASE III and earlier, third party screen generators were available, including the already mentioned ViewGen DPS 1100 for UNIVAC 1100 series mainframes.

L-1 Identity Solutions

L-1 Identity Solutions, Inc. was an American biometric technology company headquartered in Stamford, Connecticut, specializing in identity management products and services including facial recognition systems, fingerprint readers, and secure credentialing solutions for governments and commercial enterprises. The company's shares traded on the New York Stock Exchange under the ticker symbol "ID." == History == L-1 Identity Solutions was formed on August 29, 2006, from a merger of Viisage Technology, Inc. and Identix Incorporated. Prior to the Safran acquisition, L-1 divested its Intelligence Services Group (ISG) comprising SpecTal LLC, Advanced Concepts Inc., and McClendon LLC to BAE Systems, Inc. for approximately $297 million. The transaction, initially announced in September 2010, closed on February 15, 2011, with more than 1,000 ISG employees joining BAE Systems' Intelligence & Security sector. It specializes in selling face recognition systems, electronic passports, such as Fly Clear, and other biometric technology to governments such as the United States and Saudi Arabia. It also licenses technology to other companies internationally, including China. On July 26, 2011, Safran (NYSE Euronext Paris: SAF) acquired L-1 Identity Solutions, Inc. for a total cash amount of USD 1.09 billion. L-1 was part of Morpho's MorphoTrust department which rebranded to Idemia in 2017. Bioscrypt is a biometrics research, development and manufacturing company purchased by L-1 Identity Solutions. It provides fingerprint IP readers for physical access control systems, Facial recognition system readers for contactless access control authentication and OEM fingerprint modules for embedded applications. According to IMS Research, Bioscrypt has been the world market leader in biometric access control for enterprises (since 2006) with a worldwide market share of over 13%. In 2011, Bioscrypt was sold to Safran Morpho.