This work was supported by the Center for Brains, Minds, and Machines, NSF STC award CCF1231216, the NSF award 2124052, the MIT CSAIL Machine Learning Applications Initiative, the MIT-IBM Watson AI Lab, the DARPA Artificial Social Intelligence for Successful Teams (ASIST) program, the DARPA Knowledge Management at Scale and Speed (KMASS) program, the United States Air Force Research Laboratory and the Department of the Air Force Artificial Intelligence Accelerator under Cooperative Agreement Number FA8750-19-2-1000, the Air Force Office of Scientific Research (AFOSR) under award number FA9550-21-1-0014, and the Office of Naval Research under award number N00014-20-1-2589 and award number N00014- 20-1-2643. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Department of the Air Force or the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes notwithstanding any copyright notation herein.