Specifically, for average precision IOU on the MNIST-10 dataset, we obtained 0.459 and 0.453 for our model

Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However, conventional deep learning and Transformer models often struggle to process data with inherent symmetries and invariances, typically relying on large datasets or extensive data augmentation. Equivariant neural networks overcome these limitations by explicitly integrating symmetry and invariance into their architectures, leading to improved efficiency and generalization. This tutorial survey reviews a wide range of equivariant deep learning and control methods for robotics, from classic to state-of-the-art, with a focus on SE(3)-equivariant models that leverage the natural 3D rotational and translational symmetries in visual robotic manipulation and control design. Using unified mathematical notation, we begin by reviewing key concepts from group theory, along with matrix Lie groups and Lie algebras. We then introduce foundational group-equivariant neural network design and show how the group-equivariance can be obtained through their structure. Next, we discuss the applications of SE(3)-equivariant neural networks in robotics in terms of imitation learning and reinforcement learning. The SE(3)-equivariant control design is also reviewed from the perspective of geometric control. Finally, we highlight the challenges and future directions of equivariant methods in developing more robust, sample-efficient, and multi-modal real-world robotic systems.

Neural PDEs offer efficient alternatives to computationally expensive numerical PDE solvers for simulating complex physical systems. However, their lack of robust uncertainty quantification (UQ) limits deployment in critical applications. We introduce a model-agnostic, physics-informed conformal prediction (CP) framework that provides guaranteed uncertainty estimates without requiring labelled data. By utilising a physics-based approach, we are able to quantify and calibrate the model's inconsistencies with the PDE rather than the uncertainty arising from the data. Our approach uses convolutional layers as finite-difference stencils and leverages physics residual errors as nonconformity scores, enabling data-free UQ with marginal and joint coverage guarantees across prediction domains for a range of complex PDEs. We further validate the efficacy of our method on neural PDE models for plasma modelling and shot design in fusion reactors.

Specifically, for average precision IOU on the MNIST-10 dataset, we obtained 0.459 and 0.453 for our model

Accurate real-time prediction of formation pressure and kick detection is crucial for drilling operations, as it can significantly improve decision-making and the cost-effectiveness of the process. Data-driven models have gained popularity for automating drilling operations by predicting formation pressure and detecting kicks. However, the current literature does not make supporting datasets publicly available to advance research in the field of drilling rigs, thus impeding technological progress in this domain. This paper introduces two new datasets to support researchers in developing intelligent algorithms to enhance oil/gas well drilling research. The datasets include data samples for formation pressure prediction and kick detection with 28 drilling variables and more than 2000 data samples. Principal component regression is employed to forecast formation pressure, while principal component analysis is utilized to identify kicks for the dataset's technical validation. Notably, the R2 and Residual Predictive Deviation scores for principal component regression are 0.78 and 0.922, respectively.

Federated learning is fast becoming a popular paradigm for applications involving mobile devices, banking systems, healthcare, and IoT systems. Hence, over the past five years, researchers have undertaken extensive studies on the privacy leaks, security threats, and fairness associated with these emerging models. For the most part, these three critical concepts have been studied in isolation; however, recent research has revealed that there may be an intricate interplay between them. For instance, some researchers have discovered that pursuing fairness may compromise privacy, or that efforts to enhance security can impact fairness. These emerging insights shed light on the fundamental connections between privacy, security, and fairness within federated learning, and, by delving deeper into these interconnections, we may be able to significantly augment research and development across the field. Consequently, the aim of this survey is to offer comprehensive descriptions of the privacy, security, and fairness issues in federated learning. Moreover, we analyze the complex relationships between these three dimensions of cyber safety and pinpoint the fundamental elements that influence each of them. We contend that there exists a trade-off between privacy and fairness and between security and gradient sharing. On this basis, fairness can function as a bridge between privacy and security to build models that are either more secure or more private. Building upon our observations, we identify the trade-offs between privacy and fairness and between security and fairness within the context of federated learning. The survey then concludes with promising directions for future research in this vanguard field.

A popular method to perform adversarial attacks on neuronal networks is the so-called fast gradient sign method and its iterative variant. In this paper, we interpret this method as an explicit Euler discretization of a differential inclusion, where we also show convergence of the discretization to the associated gradient flow. To do so, we consider the concept of p-curves of maximal slope in the case $p=\infty$. We prove existence of $\infty$-curves of maximum slope and derive an alternative characterization via differential inclusions. Furthermore, we also consider Wasserstein gradient flows for potential energies, where we show that curves in the Wasserstein space can be characterized by a representing measure on the space of curves in the underlying Banach space, which fulfill the differential inclusion. The application of our theory to the finite-dimensional setting is twofold: On the one hand, we show that a whole class of normalized gradient descent methods (in particular signed gradient descent) converge, up to subsequences, to the flow, when sending the step size to zero. On the other hand, in the distributional setting, we show that the inner optimization task of adversarial training objective can be characterized via $\infty$-curves of maximum slope on an appropriate optimal transport space.

We combine power functional theory and machine learning to study non-equilibrium overdamped many-body systems of colloidal particles at the level of one-body fields. We first sample in steady state the one-body fields relevant for the dynamics from computer simulations of Brownian particles under the influence of randomly generated external fields. A neural network is then trained with this data to represent locally in space the formally exact functional mapping from the one-body density and velocity profiles to the one-body internal force field. The trained network is used to analyse the non-equilibrium superadiabatic force field and the transport coefficients such as shear and bulk viscosities. Due to the local learning approach, the network can be applied to systems much larger than the original simulation box in which the one-body fields are sampled. Complemented with the exact non-equilibrium one-body force balance equation and a continuity equation, the network yields viable predictions of the dynamics in time-dependent situations. Even though training is based on steady states only, the predicted dynamics is in good agreement with simulation results. A neural dynamical density functional theory can be straightforwardly implemented as a limiting case in which the internal force field is that of an equilibrium system. The framework is general and directly applicable to other many-body systems of interacting particles following Brownian dynamics.

Symbolic Machine Learning Prover (SMLP) is a tool and a library for system exploration based on data samples obtained by simulating or executing the system on a number of input vectors. SMLP aims at exploring the system based on this data by taking a grey-box approach: SMLP combines statistical methods of data exploration with building and exploring machine learning models in close feedback loop with the system's response, and exploring these models by combining probabilistic and formal methods. SMLP has been applied in industrial setting at Intel for analyzing and optimizing hardware designs at the analog level. SMLP is a general purpose tool and can be applied to systems that can be sampled and modeled by machine learning models.

On a variety of tasks, the performance of neural networks predictably improves with training time, dataset size and model size across many orders of magnitude. This phenomenon is known as a neural scaling law. Of fundamental importance is the compute-optimal scaling law, which reports the performance as a function of units of compute when choosing model sizes optimally. We analyze a random feature model trained with gradient descent as a solvable model of network training and generalization. This reproduces many observations about neural scaling laws. First, our model makes a prediction about why the scaling of performance with training time and with model size have different power law exponents. Consequently, the theory predicts an asymmetric compute-optimal scaling rule where the number of training steps are increased faster than model parameters, consistent with recent empirical observations. Second, it has been observed that early in training, networks converge to their infinite-width dynamics at a rate $1/\textit{width}$ but at late time exhibit a rate $\textit{width}^{-c}$, where $c$ depends on the structure of the architecture and task. We show that our model exhibits this behavior. Lastly, our theory shows how the gap between training and test loss can gradually build up over time due to repeated reuse of data.