Neural populations exhibit complex recurrent structures that drive behavior, while continuously receiving and integrating external inputs from sensory stimuli, upstream regions, and neurostimulation. However, neural populations are often modeled as autonomous dynamical systems, with little consideration given to the influence of external inputs that shape the population activity and behavioral outcomes. Here, we introduce BRAID, a deep learning framework that models nonlinear neural dynamics underlying behavior while explicitly incorporating any measured external inputs. Our method disentangles intrinsic recurrent neural population dynamics from the effects of inputs by including a forecasting objective within input-driven recurrent neural networks. BRAID further prioritizes the learning of intrinsic dynamics that are related to a behavior of interest by using a multi-stage optimization scheme. We validate BRAID with nonlinear simulations, showing that it can accurately learn the intrinsic dynamics shared between neural and behavioral modalities. We then apply BRAID to motor cortical activity recorded during a motor task and demonstrate that our method more accurately fits the neural-behavioral data by incorporating measured sensory stimuli into the model and improves the forecasting of neural-behavioral data compared with various baseline methods, whether input-driven or not.

Using the vertex model approach for braid representations, we compute polynomials for spin-1 placed on hyperbolic knots up to 15 crossings. These polynomials are referred to as 3-colored Jones polynomials or adjoint Jones polynomials. Training a subset of the data using a fully connected feedforward neural network, we predict the volume of the knot complement of hyperbolic knots from the adjoint Jones polynomial or its evaluations with 99.34% accuracy. A function of the adjoint Jones polynomial evaluated at the phase $q=e^{ 8 \pi i / 15 }$ predicts the volume with nearly the same accuracy as the neural network. From an analysis of 2-colored and 3-colored Jones polynomials, we conjecture the best phase for $n$-colored Jones polynomials, and use this hypothesis to motivate an improved statement of the volume conjecture. This is tested for knots for which closed form expressions for the $n$-colored Jones polynomial are known, and we show improved convergence to the volume.

Planning in real-world settings often entails addressing partial observability while aligning with users' preferences. We present a novel framework for expressing users' preferences about agent behavior in a partially observable setting using parameterized belief-state query (BSQ) preferences in the setting of goal-oriented partially observable Markov decision processes (gPOMDPs). We present the first formal analysis of such preferences and prove that while the expected value of a BSQ preference is not a convex function w.r.t its parameters, it is piecewise constant and yields an implicit discrete parameter search space that is finite for finite horizons. This theoretical result leads to novel algorithms that optimize gPOMDP agent behavior while guaranteeing user preference compliance. Theoretical analysis proves that our algorithms converge to the optimal preference-compliant behavior in the limit. Empirical results show that BSQ preferences provide a computationally feasible approach for planning with preferences in partially observable settings.

Last fall, the artist and musician Holly Herndon visited Torreciudad, a shrine to the Virgin Mary associated with the controversial Catholic group Opus Dei, in Aragón, Spain. The sanctuary, built in the nineteen-seventies, sits on a cliff overlooking an inviting blue reservoir, in a remote area just south of the Pyrenees. Herndon and her husband, Mathew Dryhurst, had been on a short vacation in the mountains nearby. They were particularly taken with an exhibit of Virgin Mary iconography from around the world: a faceless, abstract stone carving from Cameroon; a pale, blue-eyed statuette from Ecuador; a Black Mary from Senegal, dressed in an ornate gown of blue and gold. Moving from art work to art work, the couple discussed Mary's "embedding."

We use machine learning to classify examples of braids (or flat braids) as trivial or non-trivial. Our ML takes form of supervised learning using neural networks (multilayer perceptrons). When they achieve good results in classification, we are able to interpret their structure as mathematical conjectures and then prove these conjectures as theorems. As a result, we find new convenient invariants of braids, including a complete invariant of flat braids.

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. In this work, we present a new approach to address this problem using the theory of braids. By establishing a topological equivalence between the physical cables and the space-time trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding these interaction patterns in the trajectories of the robots. Based on this finding, we present a graph search algorithm using the permutation grid to efficiently search for a feasible topology of paths and reject braid patterns that result in an entanglement. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for up to 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered UAVs in indoor flight experiments.

We use reinforcement learning to tackle the problem of untangling braids. We experiment with braids with 2 and 3 strands. Two competing players learn to tangle and untangle a braid. We interface the braid untangling problem with the OpenAI Gym environment, a widely used way of connecting agents to reinforcement learning problems. The results provide evidence that the more we train the system, the better the untangling player gets at untangling braids. At the same time, our tangling player produces good examples of tangled braids.

The architecture of neural networks is selected by studying their accuracy and ability of generalization. This approach is not optimal and requires a lot of time and computational resources. So, it can be useful to replace it by the automatic optimization of neural network architectures. Automatic approaches imply the use of algorithmic (procedural) methods for the generation of neural networks, that is, the application of rules and procedures that create certain [1] sequences. This approach will be useful for generating deep neural network architectures, since the optimal setting of their structure is nontrivial and directly depends on the problem being solved.