In scenarios where obtaining real-time labels proves challenging, conventional approaches may result in sub-optimal performance. This paper presents an optimal strategy for streaming contexts with limited labeled data, introducing an adaptive technique for unsupervised regression. The proposed method leverages a sparse set of initial labels and introduces an innovative drift detection mechanism to enable dynamic model adaptations in response to evolving patterns in the data. To enhance adaptability, we integrate the ADWIN (ADaptive WINdowing) algorithm with error generalization based on Root Mean Square Error (RMSE). ADWIN facilitates real-time drift detection, while RMSE provides a robust measure of model prediction accuracy. This combination enables our multivariate method to effectively navigate the challenges of streaming data, continuously adapting to changing patterns while maintaining a high level of predictive precision. Finally, we evaluate the performance of our multivariate method across various public datasets, comparing it to non-adapting baselines. Through comprehensive assessments, we demonstrate the superior efficacy of our adaptive regression technique for tasks where obtaining labels in real-time is a significant challenge. The results underscore the method's capacity to outperform traditional approaches and highlight its potential in scenarios characterized by label scarcity and evolving data patterns.

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence, particularly Machine Learning. By employing sophisticated neural networks, robots are given the ability to detect and interact with objects in their vicinity. However, a significant drawback arises from the underlying dependency on extensive datasets and the availability of substantial amounts of training data for these object detection models. This issue becomes particularly problematic when the specific deployment location of the robot and the surroundings, are not known in advance. The vast and ever-expanding array of objects makes it virtually impossible to comprehensively cover the entire spectrum of existing objects using preexisting datasets alone. The goal of this dissertation was to teach a robot unknown objects in the context of Human-Robot Interaction (HRI) in order to liberate it from its data dependency, unleashing it from predefined scenarios. In this context, the combination of eye tracking and Augmented Reality created a powerful synergy that empowered the human teacher to communicate with the robot and effortlessly point out objects by means of human gaze. This holistic approach led to the development of a multimodal HRI system that enabled the robot to identify and visually segment the Objects of Interest in 3D space. Through the class information provided by the human, the robot was able to learn the objects and redetect them at a later stage. Due to the knowledge gained from this HRI based teaching, the robot's object detection capabilities exhibited comparable performance to state-of-the-art object detectors trained on extensive datasets, without being restricted to predefined classes, showcasing its versatility and adaptability.

In this study, we present a novel computational method for generating molecular fingerprints using multiparameter persistent homology (MPPH). This technique holds considerable significance for drug discovery and materials science, where precise molecular property prediction is vital. By integrating SE(3)-invariance with Vietoris-Rips persistent homology, we effectively capture the three-dimensional representations of molecular chirality. This non-superimposable mirror image property directly influences the molecular interactions, serving as an essential factor in molecular property prediction. We explore the underlying topologies and patterns in molecular structures by applying Vietoris-Rips persistent homology across varying scales and parameters such as atomic weight, partial charge, bond type, and chirality. Our method's efficacy can be improved by incorporating additional parameters such as aromaticity, orbital hybridization, bond polarity, conjugated systems, as well as bond and torsion angles. Additionally, we leverage Stochastic Gradient Langevin Boosting in a Bayesian ensemble of GBDTs to obtain aleatoric and epistemic uncertainty estimates for gradient boosting models. With these uncertainty estimates, we prioritize high-uncertainty samples for active learning and model fine-tuning, benefiting scenarios where data labeling is costly or time consuming. Compared to conventional GNNs which usually suffer from oversmoothing and oversquashing, MPPH provides a more comprehensive and interpretable characterization of molecular data topology. We substantiate our approach with theoretical stability guarantees and demonstrate its superior performance over existing state-of-the-art methods in predicting molecular properties through extensive evaluations on the MoleculeNet benchmark datasets.

Battery Electric Vehicles (BEVs) are increasingly significant in modern cities due to their potential to reduce air pollution. Precise and real-time estimation of energy consumption for them is imperative for effective itinerary planning and optimizing vehicle systems, which can reduce driving range anxiety and decrease energy costs. As public awareness of data privacy increases, adopting approaches that safeguard data privacy in the context of BEV energy consumption modeling is crucial. Federated Learning (FL) is a promising solution mitigating the risk of exposing sensitive information to third parties by allowing local data to remain on devices and only sharing model updates with a central server. Our work investigates the potential of using FL methods, such as FedAvg, and FedPer, to improve BEV energy consumption prediction while maintaining user privacy. We conducted experiments using data from 10 BEVs under simulated real-world driving conditions. Our results demonstrate that the FedAvg-LSTM model achieved a reduction of up to 67.84\% in the MAE value of the prediction results. Furthermore, we explored various real-world scenarios and discussed how FL methods can be employed in those cases. Our findings show that FL methods can effectively improve the performance of BEV energy consumption prediction while maintaining user privacy.

Quantum neural networks (QNNs) and quantum kernels stand as prominent figures in the realm of quantum machine learning, poised to leverage the nascent capabilities of near-term quantum computers to surmount classical machine learning challenges. Nonetheless, the training efficiency challenge poses a limitation on both QNNs and quantum kernels, curbing their efficacy when applied to extensive datasets. To confront this concern, we present a unified approach: coreset selection, aimed at expediting the training of QNNs and quantum kernels by distilling a judicious subset from the original training dataset. Furthermore, we analyze the generalization error bounds of QNNs and quantum kernels when trained on such coresets, unveiling the comparable performance with those training on the complete original dataset. Through systematic numerical simulations, we illuminate the potential of coreset selection in expediting tasks encompassing synthetic data classification, identification of quantum correlations, and quantum compiling. Our work offers a useful way to improve diverse quantum machine learning models with a theoretical guarantee while reducing the training cost.

Current state-of-the-art self-supervised approaches, are effective when trained on individual domains but show limited generalization on unseen domains. We observe that these models poorly generalize even when trained on a mixture of domains, making them unsuitable to be deployed under diverse real-world setups. We therefore propose a general-purpose, lightweight Domain Disentanglement Module (DDM) that can be plugged into any self-supervised encoder to effectively perform representation learning on multiple, diverse domains with or without shared classes. During pre-training according to a self-supervised loss, DDM enforces a disentanglement in the representation space by splitting it into a domain-variant and a domain-invariant portion. When domain labels are not available, DDM uses a robust clustering approach to discover pseudo-domains. We show that pre-training with DDM can show up to 3.5% improvement in linear probing accuracy on state-of-the-art self-supervised models including SimCLR, MoCo, BYOL, DINO, SimSiam and Barlow Twins on multi-domain benchmarks including PACS, DomainNet and WILDS. Models trained with DDM show significantly improved generalization (7.4%) to unseen domains compared to baselines. Therefore, DDM can efficiently adapt self-supervised encoders to provide high-quality, generalizable representations for diverse multi-domain data.

Graph-structured data can be found in numerous domains, yet the scarcity of labeled instances hinders its effective utilization of deep learning in many scenarios. Traditional unsupervised domain adaptation (UDA) strategies for graphs primarily hinge on adversarial learning and pseudo-labeling. These approaches fail to effectively leverage graph discriminative features, leading to class mismatching and unreliable label quality. To navigate these obstacles, we develop the Denoising and Nuclear-Norm Wasserstein Adaptation Network (DNAN). DNAN employs the Nuclear-norm Wasserstein discrepancy (NWD), which can simultaneously achieve domain alignment and class distinguishment. DANA also integrates a denoising mechanism via a variational graph autoencoder that mitigates data noise. This denoising mechanism helps capture essential features of both source and target domains, improving the robustness of the domain adaptation process. Our comprehensive experiments demonstrate that DNAN outperforms state-of-the-art methods on standard UDA benchmarks for graph classification.

We tackle the challenging issue of aggressive fine-tuning encountered during the process of transfer learning of pre-trained language models (PLMs) with limited labeled downstream data. This problem primarily results in a decline in performance on the subsequent task. Inspired by the adaptive boosting method in traditional machine learning, we present an effective dynamic corrective self-distillation (DCS) approach to improve the fine-tuning of the PLMs. Our technique involves performing a self-distillation mechanism where, at each iteration, the student model actively adapts and corrects itself by dynamically adjusting the weights assigned to individual data points. This iterative self-correcting process significantly enhances the overall fine-tuning capability of PLMs, leading to improved performance and robustness. We conducted comprehensive evaluations using the GLUE benchmark demonstrating the efficacy of our method in enhancing the fine-tuning process for various PLMs across diverse downstream tasks.

Given a pre-trained classifier and multiple human experts, we investigate the task of online classification where model predictions are provided for free but querying humans incurs a cost. In this practical but under-explored setting, oracle ground truth is not available. Instead, the prediction target is defined as the consensus vote of all experts. Given that querying full consensus can be costly, we propose a general framework for online Bayesian consensus estimation, leveraging properties of the multivariate hypergeometric distribution. Based on this framework, we propose a family of methods that dynamically estimate expert consensus from partial feedback by producing a posterior over expert and model beliefs. Analyzing this posterior induces an interpretable trade-off between querying cost and classification performance. We demonstrate the efficacy of our framework against a variety of baselines on CIFAR-10H and ImageNet-16H, two large-scale crowdsourced datasets.

Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning of perception algorithms. In this paper, we introduce a methodology for quantifying this relationship, taking into account factors such as detection rate, detection quality, and latency. Furthermore, we introduce two novel metrics for Human-Robot Collaboration safety predicated upon perception metrics: Critical Collision Probability (CCP) and Average Collision Probability (ACP). To validate the utility of these metrics in facilitating algorithm development and tuning, we develop an attentive processing strategy that focuses exclusively on key input features. This approach significantly reduces computational time while preserving a similar level of accuracy. Experimental results indicate that the implementation of this strategy in an object detector leads to a maximum reduction of 30.091% in inference time and 26.534% in total time per frame. Additionally, the strategy lowers the CCP and ACP in a baseline model by 11.252% and 13.501%, respectively. The source code will be made publicly available in the final proof version of the manuscript.