The BBC's Madeline Halpert was inside the room as the former Venezuelan president addressed the judge.
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The US taking of Venezuela's leader has faced strong criticism from both America's friends and foes.
During the 40-minute arraignment, Maduro and his wife, Cilia Flores, pleaded not guilty to drugs and weapon charges.
US Attorney General Pam Bondi has said Maduro was brought to the US to "face justice". Some experts have concerns.
Elon Musk's social media platform has warned users not to use Grok to generate illegal content.
It comes after President Trump again said "we need Greenland from the standpoint of national security".
UK must make clear US operation is unacceptable, chairwoman of the Foreign Affairs Committee Emily Thornberry says.
Investors bet the action may open opportunities to tap the country's oil wealth.
Cuba's president said military and intelligence operatives were providing protection to captured leader Nicolás Maduro.
Forty people were killed when a fire swept through a busy bar in Crans-Montana on New Year's Eve.