Residual Pathway Priors for Soft Equivariance Constraints Marc Finzi New York University Greg Benton New York University Andrew Gordon Wilson New York University

A disadvantage of hard coding these restrictions is that this prior knowledge may not match reality. A scene may have long range non-local interactions, rotation equivariance may be violated by a preferred camera angle, or a dynamical system may occasionally have discontinuous transitions. In particular, symmetries are delicate. A small perturbation like adding wind breaks the rotational symmetry of a pendulum, and bumpy or tilted terrain could break the translation symmetry for locomotion.