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Autonomous vehicles and weapons don’t have the discretion to disobey illegal orders - what safeguards are in place to address that (besides trusting those who develop the algorithms)?

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In the US it is illegal to make an autonomous system to fire weapons on their own. Human in the loop is a requirement. So the technical answer to your question for the US is, "the same mechanisms we've been using all along".

Now, should we ask this of our enemies? Probably.

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