Machine learning (ML) is revolutionizing the world, affecting almost every field of science and industry. Recent algorithms (in particular, deep networks) are increasingly data-hungry, requiring large datasets for training. Thus, the dominant paradigm in ML today involves constructing large, task-specific datasets. However, obtaining quality datasets of such magnitude proves to be a difficult challenge. A variety of methods have been proposed to address this data bottleneck problem, but they are scattered across different areas, and it is hard for a practitioner to keep up with the latest developments. In this work, we propose a taxonomy of these methods. Our goal is twofold: (1) We wish to raise the community's awareness of the methods that already exist and encourage more efficient use of resources, and (2) we hope that such a taxonomy will contribute to our understanding of the problem, inspiring novel ideas and strategies to replace current annotation-heavy approaches.

Approximate combinatorial optimisation has emerged as one of the most promising application areas for quantum computers, particularly those in the near term. In this work, we focus on the quantum approximate optimisation algorithm (QAOA) for solving the MaxCut problem. Specifically, we address two problems in the QAOA, how to initialise the algorithm, and how to subsequently train the parameters to find an optimal solution. For the former, we propose graph neural networks (GNNs) as a warm-starting technique for QAOA. We demonstrate that merging GNNs with QAOA can outperform both approaches individually. Furthermore, we demonstrate how graph neural networks enables warm-start generalisation across not only graph instances, but also to increasing graph sizes, a feature not straightforwardly available to other warm-starting methods. For training the QAOA, we test several optimisers for the MaxCut problem up to 16 qubits and benchmark against vanilla gradient descent. These include quantum aware/agnostic and machine learning based/neural optimisers. Examples of the latter include reinforcement and meta-learning. With the incorporation of these initialisation and optimisation toolkits, we demonstrate how the optimisation problems can be solved using QAOA in an end-to-end differentiable pipeline.

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Question-answering (QA) that comes naturally to humans is a critical component in seamless human-computer interaction. It has emerged as one of the most convenient and natural methods to interact with the web and is especially desirable in voice-controlled environments. Despite being one of the oldest research areas, the current QA system faces the critical challenge of handling multilingual queries. To build an Artificial Intelligent (AI) agent that can serve multilingual end users, a QA system is required to be language versatile and tailored to suit the multilingual environment. Recent advances in QA models have enabled surpassing human performance primarily due to the availability of a sizable amount of high-quality datasets. However, the majority of such annotated datasets are expensive to create and are only confined to the English language, making it challenging to acknowledge progress in foreign languages. Therefore, to measure a similar improvement in the multilingual QA system, it is necessary to invest in high-quality multilingual evaluation benchmarks. In this dissertation, we focus on advancing QA techniques for handling end-user queries in multilingual environments. This dissertation consists of two parts. In the first part, we explore multilingualism and a new dimension of multilingualism referred to as code-mixing. Second, we propose a technique to solve the task of multi-hop question generation by exploiting multiple documents. Experiments show our models achieve state-of-the-art performance on answer extraction, ranking, and generation tasks on multiple domains of MQA, VQA, and language generation. The proposed techniques are generic and can be widely used in various domains and languages to advance QA systems.

In this work, we focus on intrasentential code-mixing and propose several different Synthetic Code-Mixing (SCM) data augmentation methods that outperform the baseline on downstream sentiment analysis tasks across various amounts of labeled gold data. Most importantly, our proposed methods demonstrate that strategically replacing parts of sentences in the matrix language with a constant mask significantly improves classification accuracy, motivating further linguistic insights into the phenomenon of code-mixing. We test our data augmentation method in a variety of low-resource and cross-lingual settings, reaching up to a relative improvement of 7.73% on the extremely scarce English-Malayalam dataset. We conclude that the code-switch pattern in code-mixing sentences is also important for the model to learn. Finally, we propose a language-agnostic SCM algorithm that is cheap yet extremely helpful for low-resource languages.

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that robots share - the need for a modular, scalable, and reliable architecture; sensing; planning; mobility; and autonomy. The Robot Operating System (ROS) was an integral part of the last chapter, demonstrably expediting robotics research with freely-available components and a modular framework. However, ROS 1 was not designed with many necessary production-grade features and algorithms. ROS 2 and its related projects have been redesigned from the ground up to meet the challenges set forth by modern robotic systems in new and exploratory domains at all scales. In this review, we highlight the philosophical and architectural changes of ROS 2 powering this new chapter in the robotics revolution. We also show through case studies the influence ROS 2 and its adoption has had on accelerating real robot systems to reliable deployment in an assortment of challenging environments.

We are at the cusp of a transition from "learning from data" to "learning what data to learn from" as a central focus of artificial intelligence (AI) research. While the first-order learning problem is not completely solved, large models under unified architectures, such as transformers, have shifted the learning bottleneck from how to effectively train our models to how to effectively acquire and use task-relevant data. This problem, which we frame as exploration, is a universal aspect of learning in open-ended domains, such as the real world. Although the study of exploration in AI is largely limited to the field of reinforcement learning, we argue that exploration is essential to all learning systems, including supervised learning. We propose the problem of generalized exploration to conceptually unify exploration-driven learning between supervised learning and reinforcement learning, allowing us to highlight key similarities across learning settings and open research challenges. Importantly, generalized exploration serves as a necessary objective for maintaining open-ended learning processes, which in continually learning to discover and solve new problems, provides a promising path to more general intelligence.

As expected, recent high-profile and significant breaches have eroded trust in these systems. Cybersecurity [2] is an umbrella term that defines several domains that work together to provide strategies and technologies to protect such systems and data from being compromised. The field of cybersecurity has matured over the years to counter these increasingly prevalent threats. However, little to no attention has been placed on potentially similar vulnerabilities and trust issues in robotics. Particularly with many robotic and other embodied and embedded Artificial Intelligence (AI) systems coming online in the wild with little human oversight, the potential risks have significantly increased in recent times. In this context, 'Secure Robotics' defines an umbrella term that would parallel cybersecurity within the IT domain to capture the techniques and strategies to secure vulnerable robotic systems from potential harm to (re)establish trust in robots and embodied AI systems. This paper is a survey of the'Secure Robotics' literature and of how the implementation of cybersecurity controls into a robotic system deployment may increase human-robot trust and robot system robustness amongst the robot user Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page.

Human lives are increasingly being affected by the outcomes of automated decision-making systems and it is essential for the latter to be, not only accurate, but also fair. The literature of algorithmic fairness has grown considerably over the last decade, where most of the approaches are evaluated under the strong assumption that the train and test samples are independently and identically drawn from the same underlying distribution. However, in practice, dissimilarity between the training and deployment environments exists, which compromises the performance of the decision-making algorithm as well as its fairness guarantees in the deployment data. There is an emergent research line that studies how to preserve fairness guarantees when the data generating processes differ between the source (train) and target (test) domains, which is growing remarkably. With this survey, we aim to provide a wide and unifying overview on the topic. For such purpose, we propose a taxonomy of the existing approaches for fair classification under distribution shift, highlight benchmarking alternatives, point out the relation with other similar research fields and eventually, identify future venues of research.

One notable weakness of current machine learning algorithms is the poor ability of models to solve new problems without forgetting previously acquired knowledge. The Continual Learning paradigm has emerged as a protocol to systematically investigate settings where the model sequentially observes samples generated by a series of tasks. In this work, we take a task-agnostic view of continual learning and develop a hierarchical information-theoretic optimality principle that facilitates a trade-off between learning and forgetting. We derive this principle from a Bayesian perspective and show its connections to previous approaches to continual learning. Based on this principle, we propose a neural network layer, called the Mixture-of-Variational-Experts layer, that alleviates forgetting by creating a set of information processing paths through the network which is governed by a gating policy. Equipped with a diverse and specialized set of parameters, each path can be regarded as a distinct sub-network that learns to solve tasks. To improve expert allocation, we introduce diversity objectives, which we evaluate in additional ablation studies. Importantly, our approach can operate in a task-agnostic way, i.e., it does not require task-specific knowledge, as is the case with many existing continual learning algorithms. Due to the general formulation based on generic utility functions, we can apply this optimality principle to a large variety of learning problems, including supervised learning, reinforcement learning, and generative modeling. We demonstrate the competitive performance of our method on continual reinforcement learning and variants of the MNIST, CIFAR-10, and CIFAR-100 datasets.