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Early sensory systems in the brain rapidly adapt to fluctuating input statistics, which requires recurrent communication between neurons. Mechanistically, such recurrent communication is often indirect and mediated by local interneurons. In this work, we explore the computational benefits of mediating recurrent communication via interneurons compared with direct recurrent connections. To this end, we consider two mathematically tractable recurrent linear neural networks that statistically whiten their inputs -- one with direct recurrent connections and the other with interneurons that mediate recurrent communication. By analyzing the corresponding continuous synaptic dynamics and numerically simulating the networks, we show that the network with interneurons is more robust to initialization than the network with direct recurrent connections in the sense that the convergence time for the synaptic dynamics in the network with interneurons (resp. direct recurrent connections) scales logarithmically (resp. linearly) with the spectrum of their initialization. Our results suggest that interneurons are computationally useful for rapid adaptation to changing input statistics. Interestingly, the network with interneurons is an overparameterized solution of the whitening objective for the network with direct recurrent connections, so our results can be viewed as a recurrent linear neural network analogue of the implicit acceleration phenomenon observed in overparameterized feedforward linear neural networks.

As quantum theory allows for information processing and computing tasks that otherwise are not possible with classical systems, there is a need and use of quantum Internet beyond existing network systems. At the same time, the realization of a desirably functional quantum Internet is hindered by fundamental and practical challenges such as high loss during transmission of quantum systems, decoherence due to interaction with the environment, fragility of quantum states, etc. We study the implications of these constraints by analyzing the limitations on the scaling and robustness of quantum Internet. Considering quantum networks, we present practical bottlenecks for secure communication, delegated computing, and resource distribution among end nodes. Motivated by the power of abstraction in graph theory (in association with quantum information theory), we consider graph-theoretic quantifiers to assess network robustness and provide critical values of communication lines for viable communication over quantum Internet. In particular, we begin by discussing limitations on usefulness of isotropic states as device-independent quantum key repeaters which otherwise could be useful for device-independent quantum key distribution. We consider some quantum networks of practical interest, ranging from satellite-based networks connecting far-off spatial locations to currently available quantum processor architectures within computers, and analyze their robustness to perform quantum information processing tasks. Some of these tasks form primitives for delegated quantum computing, e.g., entanglement distribution and quantum teleportation. For some examples of quantum networks, we present algorithms to perform different quantum network tasks of interest such as constructing the network structure, finding the shortest path between a pair of end nodes, and optimizing the flow of resources at a node.

Accurately estimating parameters in complex nonlinear systems is crucial across scientific and engineering fields. We present a novel approach for parameter estimation using a neural network with the Huber loss function. This method taps into deep learning's abilities to uncover parameters governing intricate behaviors in nonlinear equations. We validate our approach using synthetic data and predefined functions that model system dynamics. By training the neural network with noisy time series data, it fine-tunes the Huber loss function to converge to accurate parameters. We apply our method to damped oscillators, Van der Pol oscillators, Lotka-Volterra systems, and Lorenz systems under multiplicative noise. The trained neural network accurately estimates parameters, evident from closely matching latent dynamics. Comparing true and estimated trajectories visually reinforces our method's precision and robustness. Our study underscores the Huber loss-guided neural network as a versatile tool for parameter estimation, effectively uncovering complex relationships in nonlinear systems. The method navigates noise and uncertainty adeptly, showcasing its adaptability to real-world challenges.

Data-driven modeling is useful for reconstructing nonlinear dynamical systems when the underlying process is unknown or too expensive to compute. Having reliable uncertainty assessment of the forecast enables tools to be deployed to predict new scenarios unobserved before. In this work, we first extend parallel partial Gaussian processes for predicting the vector-valued transition function that links the observations between the current and next time points, and quantify the uncertainty of predictions by posterior sampling. Second, we show the equivalence between the dynamic mode decomposition and the maximum likelihood estimator of the linear mapping matrix in the linear state space model. The connection provides a data generating model of dynamic mode decomposition and thus, uncertainty of predictions can be obtained. Furthermore, we draw close connections between different data-driven models for approximating nonlinear dynamics, through a unified view of data generating models. We study two numerical examples, where the inputs of the dynamics are assumed to be known in the first example and the inputs are unknown in the second example. The examples indicate that uncertainty of forecast can be properly quantified, whereas model or input misspecification can degrade the accuracy of uncertainty quantification.

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the geometric, occupancy, or ESDF map. Although they have shown success in static environments, due to the limitation of map representation, those methods cannot reliably handle static and dynamic obstacles simultaneously. To address the problem, this paper proposes a gradient-based B-spline trajectory optimization algorithm utilizing the robot's onboard vision. The depth vision enables the robot to track and represent dynamic objects geometrically based on the voxel map. The proposed optimization first adopts the circle-based guide-point algorithm to approximate the costs and gradients for avoiding static obstacles. Then, with the vision-detected moving objects, our receding-horizon distance field is simultaneously used to prevent dynamic collisions. Finally, the iterative re-guide strategy is applied to generate the collision-free trajectory. The simulation and physical experiments prove that our method can run in real-time to navigate dynamic environments safely.

This study focuses on addressing the challenges of solving analytically intractable differential equations that arise in scientific and engineering fields such as Hamilton-Jacobi-Bellman. Traditional numerical methods and neural network approaches for solving such equations often require independent simulation or retraining when the underlying parameters change. To overcome this, this study employs a physics-informed DeepONet (PI-DeepONet) to approximate the solution operator of a nonlinear parabolic equation. PI-DeepONet integrates known physics into a deep neural network, which learns the solution of the PDE.

We combine Kronecker products, and quantitative information flow, to give a novel formal analysis for the fine-grained verification of utility in complex privacy pipelines. The combination explains a surprising anomaly in the behaviour of utility of privacy-preserving pipelines -- that sometimes a reduction in privacy results also in a decrease in utility. We use the standard measure of utility for Bayesian analysis, introduced by Ghosh at al., to produce tractable and rigorous proofs of the fine-grained statistical behaviour leading to the anomaly. More generally, we offer the prospect of formal-analysis tools for utility that complement extant formal analyses of privacy. We demonstrate our results on a number of common privacy-preserving designs.

High-level synthesis (HLS) refers to the automatic translation of a software program written in a high-level language into a hardware design. Modern HLS tools have moved away from the traditional approach of static (compile time) scheduling of operations to generating dynamic circuits that schedule operations at run time. Such circuits trade-off area utilisation for increased dynamism and throughput. However, existing lowering flows in dynamically scheduled HLS tools rely on conservative assumptions on their input program due to both the intermediate representations (IR) utilised as well as the lack of formal specifications on the translation into hardware. These assumptions cause suboptimal hardware performance. In this work, we lift these assumptions by proposing a new and efficient abstraction for hardware mapping; namely h-GSA, an extension of the Gated Single Static Assignment (GSA) IR. Using this abstraction, we propose a lowering flow that transforms GSA into h-GSA and maps h-GSA into dynamically scheduled hardware circuits. We compare the schedules generated by our approach to those by the state-of-the-art dynamic-scheduling HLS tool, Dynamatic, and illustrate the potential performance improvement from hardware mapping using the proposed abstraction.

Although compartmental dynamical systems are used in many different areas of science, model selection based on the maximum entropy principle (MaxEnt) is challenging because of the lack of methods for quantifying the entropy for this type of systems. Here, we take advantage of the interpretation of compartmental systems as continuous-time Markov chains to obtain entropy measures that quantify model information content. In particular, we quantify the uncertainty of a single particle's path as it travels through the system as described by path entropy and entropy rates. Path entropy measures the uncertainty of the entire path of a traveling particle from its entry into the system until its exit, whereas entropy rates measure the average uncertainty of the instantaneous future of a particle while it is in the system. We derive explicit formulas for these two types of entropy for compartmental systems in equilibrium based on Shannon information entropy and show how they can be used to solve equifinality problems in the process of model selection by means of MaxEnt.

The goal of explainable Artificial Intelligence (XAI) is to generate human-interpretable explanations, but there are no computationally precise theories of how humans interpret AI generated explanations. The lack of theory means that validation of XAI must be done empirically, on a case-by-case basis, which prevents systematic theory-building in XAI. We propose a psychological theory of how humans draw conclusions from saliency maps, the most common form of XAI explanation, which for the first time allows for precise prediction of explainee inference conditioned on explanation. Our theory posits that absent explanation humans expect the AI to make similar decisions to themselves, and that they interpret an explanation by comparison to the explanations they themselves would give. Comparison is formalized via Shepard's universal law of generalization in a similarity space, a classic theory from cognitive science. A pre-registered user study on AI image classifications with saliency map explanations demonstrate that our theory quantitatively matches participants' predictions of the AI.