Artificial intelligence can be classified into two categories: weak AI and strong AI. Weak AI systems are systems that can only do specific tasks they've been programmed to, e.g. Alexa, while strong AI systems are systems which can perform a broad range of tasks without being programmed to do it. A type of weak AI is Artificial Narrow Intelligence while types of strong AI are Artificial General Intelligence and Artificial Super Intelligence which we'll be getting to soon. Seeing we've gotten a basic idea of what AI is, what are the different types of AI? Since the 1950s we've come so far yet not far enough in developing artificial intelligence.

Data-driven system identification is often a necessary step for model-based design of control systems. While many data-driven modeling frameworks have been demonstrated to be effective, the class of models that contain a state-space description at their core have typically been easiest to integrate with model-based control and estimation algorithms, e.g., model predictive control or Kalman filtering. Early implementations of neural state-space models (SSMs) employed shallow recurrent layers and were dependent on linearization to obtain linear representations [1] or linear-parameter-varying system representations [2]. Recent advancements in deep neural networks have enabled embedding SSMs into the neural architecture explicitly without post-hoc operations [3], and therefore the SSM description can be learned directly during training; see [4] for a recent survey. For instance, unmodeled dynamics remaining after procuring a physics-informed prior model can be represented using neural SSMs [5, 6], and additional control-oriented structure can be embedded during training [7]. Another interesting direction of research has led to the development of autoencoder-based SSMs, where the neural architecture comprises an encoder that transforms the ambient state-space to a (usually high-dimensional) latent space, a decoder that inverse-transforms a latent state to the corresponding ambient state, and a linear SSM in the latent space that satisfactorily approximates the system's underlying dynamics [8-10]. Even without the decoder, deep encoder networks have proven useful for neural state-space modeling [11]. An argument for the effectiveness of autoencoder-based approaches is based on Koopman operator theory [12], which posits that a nonlinear system (under some mild assumptions) can be lifted to an infinite-dimensional latent space where the state-transition is linear; an autoencoder allows a finite-dimensional, therefore tractable, approximation of the Koopman lifting/lowering transformations [13].

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.

This paper contributes towards better understanding the energy consumption trade-offs of HPC scale Artificial Intelligence (AI), and more specifically Deep Learning (DL) algorithms. For this task we developed benchmark-tracker, a benchmark tool to evaluate the speed and energy consumption of DL algorithms in HPC environments. We exploited hardware counters and Python libraries to collect energy information through software, which enabled us to instrument a known AI benchmark tool, and to evaluate the energy consumption of numerous DL algorithms and models. Through an experimental campaign, we show a case example of the potential of benchmark-tracker to measure the computing speed and the energy consumption for training and inference DL algorithms, and also the potential of Benchmark-Tracker to help better understanding the energy behavior of DL algorithms in HPC platforms. This work is a step forward to better understand the energy consumption of Deep Learning in HPC, and it also contributes with a new tool to help HPC DL developers to better balance the HPC infrastructure in terms of speed and energy consumption.

Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their force capacity and direct their deformation. However, these embedded materials have largely been pre-prescribed and static, which constrains the actuators to a predetermined range of motion. In this work, electroadhesive (EA) clutches integrated on a single-chamber soft pneumatic actuator (SPA) provide local programmable stiffness modulation to control the actuator deformation. We show that activating different clutch patterns inflates a silicone membrane into pyramidal, round, and plateau shapes. Curvatures from these shapes are combined during actuation to apply forces on both a 3.7 g and 820 g object along five different degrees of freedom (DoF). The actuator workspace is up to 12 mm for light objects. Clutch deactivation, which results in local elastomeric expansion, rapidly applies forces up to 3.2 N to an object resting on the surface and launches a 3.7 g object in controlled directions. The actuator also rotates a heavier, 820 g, object by 5 degrees and rapidly restores it to horizontal alignment after clutch deactivation. This actuator is fully powered by a 5 V battery, AA battery, DC-DC transformer, and 4.5 V (63 g) DC air pump. These results demonstrate a first step towards realizing a soft actuator with high DoF shape change that preserves the inherent benefits of pneumatic actuation while gaining the electrical controllability and strength of EA clutches. We envision such a system supplying human contact forces in the form of a low-profile sit-to-stand assistance device, bed-ridden patient manipulator, or other ergonomic mechanism. This technology was also demonstrated at ICRA 2022: https://www.youtube.com/watch?v=6Y6-iHWNi6s

Shallow water and coastal aquatic ecosystems such as coral reefs and seagrass meadows play a critical role in regulating and understanding Earth's changing climate and biodiversity. They also play an important role in protecting towns and cities from erosion and storm surges. Yet technology used for remote sensing (drones, UAVs, satellites) cannot produce detailed images of these ecosystems. Fluid lensing effects, the distortions caused by surface waves and light on underwater objects, are what makes the remote sensing of these ecosystems a very challenging task. Using machine learning, a proof of concept model was developed that is able to remove most of these effects and produce a clearer more stable image.

We present a Bayesian graph neural network (BGNN) that can estimate the weak lensing convergence ($\kappa$) from photometric measurements of galaxies along a given line of sight. The method is of particular interest in strong gravitational time delay cosmography (TDC), where characterizing the "external convergence" ($\kappa_{\rm ext}$) from the lens environment and line of sight is necessary for precise inference of the Hubble constant ($H_0$). Starting from a large-scale simulation with a $\kappa$ resolution of $\sim$1$'$, we introduce fluctuations on galaxy-galaxy lensing scales of $\sim$1$''$ and extract random sightlines to train our BGNN. We then evaluate the model on test sets with varying degrees of overlap with the training distribution. For each test set of 1,000 sightlines, the BGNN infers the individual $\kappa$ posteriors, which we combine in a hierarchical Bayesian model to yield constraints on the hyperparameters governing the population. For a test field well sampled by the training set, the BGNN recovers the population mean of $\kappa$ precisely and without bias, resulting in a contribution to the $H_0$ error budget well under 1\%. In the tails of the training set with sparse samples, the BGNN, which can ingest all available information about each sightline, extracts more $\kappa$ signal compared to a simplified version of the traditional method based on matching galaxy number counts, which is limited by sample variance. Our hierarchical inference pipeline using BGNNs promises to improve the $\kappa_{\rm ext}$ characterization for precision TDC. The implementation of our pipeline is available as a public Python package, Node to Joy.

We consider control of dynamical systems through the lens of competitive analysis. Most prior work in this area focuses on minimizing regret, that is, the loss relative to an ideal clairvoyant policy that has noncausal access to past, present, and future disturbances. Motivated by the observation that the optimal cost only provides coarse information about the ideal closed-loop behavior, we instead propose directly minimizing the tracking error relative to the optimal trajectories in hindsight, i.e., imitating the clairvoyant policy. By embracing a system level perspective, we present an efficient optimization-based approach for computing follow-the-clairvoyant (FTC) safe controllers. We prove that these attain minimal regret if no constraints are imposed on the noncausal benchmark. In addition, we present numerical experiments to show that our policy retains the hallmark of competitive algorithms of interpolating between classical $\mathcal{H}_2$ and $\mathcal{H}_\infty$ control laws - while consistently outperforming regret minimization methods in constrained scenarios thanks to the superior ability to chase the clairvoyant.

Open domain question answering (ODQA) is a longstanding task aimed at answering factual questions from a large knowledge corpus without any explicit evidence in natural language processing (NLP). Recent works have predominantly focused on improving the answering accuracy and achieved promising progress. However, higher accuracy often comes with more memory consumption and inference latency, which might not necessarily be efficient enough for direct deployment in the real world. Thus, a trade-off between accuracy, memory consumption and processing speed is pursued. In this paper, we provide a survey of recent advances in the efficiency of ODQA models. We walk through the ODQA models and conclude the core techniques on efficiency. Quantitative analysis on memory cost, processing speed, accuracy and overall comparison are given. We hope that this work would keep interested scholars informed of the advances and open challenges in ODQA efficiency research, and thus contribute to the further development of ODQA efficiency.

Recent applications of machine-learned normalizing flows to sampling in lattice field theory suggest that such methods may be able to mitigate critical slowing down and topological freezing. However, these demonstrations have been at the scale of toy models, and it remains to be determined whether they can be applied to state-of-the-art lattice quantum chromodynamics calculations. Assessing the viability of sampling algorithms for lattice field theory at scale has traditionally been accomplished using simple cost scaling laws, but as we discuss in this work, their utility is limited for flow-based approaches. We conclude that flow-based approaches to sampling are better thought of as a broad family of algorithms with different scaling properties, and that scalability must be assessed experimentally.