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In this paper, a highly parallel and derivative-free martingale neural network learning method is proposed to solve Hamilton-Jacobi-Bellman (HJB) equations arising from stochastic optimal control problems (SOCPs), as well as general quasilinear parabolic partial differential equations (PDEs). In both cases, the PDEs are reformulated into a martingale formulation such that loss functions will not require the computation of the gradient or Hessian matrix of the PDE solution, while its implementation can be parallelized in both time and spatial domains. Moreover, the martingale conditions for the PDEs are enforced using a Galerkin method in conjunction with adversarial learning techniques, eliminating the need for direct computation of the conditional expectations associated with the martingale property. For SOCPs, a derivative-free implementation of the maximum principle for optimal controls is also introduced. The numerical results demonstrate the effectiveness and efficiency of the proposed method, which is capable of solving HJB and quasilinear parabolic PDEs accurately in dimensions as high as 10,000.

In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on input toolpaths with large numbers of waypoints to improve kinematic smoothness while incorporating manufacturing constraints. Differently, existing methods always determine them in a decoupled manner. To deal with the large number of waypoints on a toolpath, we propose a decomposition-based numerical scheme to optimize the trajectory in an out-of-core manner, which can also run in parallel to improve the efficiency. Simulations and physical experiments have been conducted to demonstrate the performance of our method in examples of robot-assisted additive manufacturing.

Equivariant neural networks are neural networks with symmetry. Motivated by the theory of group representations, we decompose the layers of an equivariant neural network into simple representations. The nonlinear activation functions lead to interesting nonlinear equivariant maps between simple representations. For example, the rectified linear unit (ReLU) gives rise to piecewise linear maps. We show that these considerations lead to a filtration of equivariant neural networks, generalizing Fourier series. This observation might provide a useful tool for interpreting equivariant neural networks.

In this paper, we analyze the behavior of a multi-agent system driven by the interactions of agents within a competitive environment. To achieve this, we describe the transition probabilities that underlie the system's stochastic nature. We also derive the Fokker-Planck equations for the density distribution of the number of agents in the system and solve these equations for specific cases.

We present a quantitative model for tracking dangerous AI capabilities over time. Our goal is to help the policy and research community visualise how dangerous capability testing can give us an early warning about approaching AI risks. We first use the model to provide a novel introduction to dangerous capability testing and how this testing can directly inform policy. Decision makers in AI labs and government often set policy that is sensitive to the estimated danger of AI systems, and may wish to set policies that condition on the crossing of a set threshold for danger. The model helps us to reason about these policy choices. We then run simulations to illustrate how we might fail to test for dangerous capabilities. To summarise, failures in dangerous capability testing may manifest in two ways: higher bias in our estimates of AI danger, or larger lags in threshold monitoring. We highlight two drivers of these failure modes: uncertainty around dynamics in AI capabilities and competition between frontier AI labs. Effective AI policy demands that we address these failure modes and their drivers. Even if the optimal targeting of resources is challenging, we show how delays in testing can harm AI policy. We offer preliminary recommendations for building an effective testing ecosystem for dangerous capabilities and advise on a research agenda.

One of the questions in Rigidity Theory is whether a realization of the vertices of a graph in the plane is flexible, namely, if it allows a continuous deformation preserving the edge lengths. A flexible realization of a connected graph in the plane exists if and only if the graph has a so called NAC-coloring, which is surjective edge coloring by two colors such that for each cycle either all the edges have the same color or there are at least two edges of each color. The question whether a graph has a NAC-coloring, and hence also the existence of a flexible realization, has been proven to be NP-complete. We show that this question is also NP-complete on graphs with maximum degree five and on graphs with the average degree at most $4+\varepsilon$ for every fixed $\varepsilon >0$. The existence of a NAC-coloring is fixed parameter tractable when parametrized by treewidth. Since the only existing implementation of checking the existence of a NAC-coloring is rather naive, we propose new algorithms along with their implementation, which is significantly faster. We also focus on searching all NAC-colorings of a graph, since they provide useful information about its possible flexible realizations.

In this paper, we prove a quantitative approximation result by orthonormal polynomials associated to an exponential weight of the form e -$\Phi$ , where $\Phi$ is an even polynomial with positive leading coefficient. This result is a consequence of a recursion relation for the orthonormal polynomials and of the strong Poincar{\'e} inequality. Simulations are provided at the end of the article, on smooth, non-smooth functions as well as in the Gaussian and the double well case.

In this project, we explore the concept of invertibility applied to serialisation and lexing frameworks. Recall that, on one hand, serialisation is the process of taking a data structure and writing it to a bit array while parsing is the reverse operation, i.e., reading the bit array and constructing the data structure back. While lexing, on the other hand, is the process of reading a stream of characters and splitting them into tokens, by following a list of given rules. While used in different applications, both are similar in their abstract operation: they both take a list of simple characters and extract a more complex structure. Applications in which these two operations are used are different but they share a need for the invertibility of the process. For example, when tokenising a code file that was prettyprinted by a compiler, one would expect to get the same sequence of tokens. Similarly, when a spacecraft sends scientific data to the ground, one would expect the parsed data to be the same as the one serialised by the spacecraft. The idea of this project is to explore the idea of having a framework capable of generating parser/serialiser or lexer/prettyprinter pairs with a formally verified notion of invertibility. We first explore related works and frameworks. After that, we present our verified lexer framework developed in Scala and verified using the Stainless framework1. We explain the implementation choices we make and present the specifications and their proofs. The code of the lexer with the proofs is available on Github2. The main branch contains the regular expression (called regex from now on) matcher version and the verified Computable Languages while the dfa match branch contains the version using the DFA matcher.

Forecasting has always been at the forefront of decision making and planning. The uncertainty that surrounds the future is both exciting and challenging, with individuals and organisations seeking to minimise risks and maximise utilities. The large number of forecasting applications calls for a diverse set of forecasting methods to tackle real-life challenges. This article provides a non-systematic review of the theory and the practice of forecasting. We provide an overview of a wide range of theoretical, state-of-the-art models, methods, principles, and approaches to prepare, produce, organise, and evaluate forecasts. We then demonstrate how such theoretical concepts are applied in a variety of real-life contexts. We do not claim that this review is an exhaustive list of methods and applications. However, we wish that our encyclopedic presentation will offer a point of reference for the rich work that has been undertaken over the last decades, with some key insights for the future of forecasting theory and practice. Given its encyclopedic nature, the intended mode of reading is non-linear. We offer cross-references to allow the readers to navigate through the various topics. We complement the theoretical concepts and applications covered by large lists of free or open-source software implementations and publicly-available databases.

When and why can a neural network be successfully trained? This article provides an overview of optimization algorithms and theory for training neural networks. First, we discuss the issue of gradient explosion/vanishing and the more general issue of undesirable spectrum, and then discuss practical solutions including careful initialization and normalization methods. Second, we review generic optimization methods used in training neural networks, such as SGD, adaptive gradient methods and distributed methods, and theoretical results for these algorithms. Third, we review existing research on the global issues of neural network training, including results on bad local minima, mode connectivity, lottery ticket hypothesis and infinite-width analysis.