This appendix contains a proofs of the results in the main text and further analysis on the two FIM estimators ˆI1(θ)and ˆI2(θ). In particular, Appendix C presents an analysis of how the FIM estimators and their covariance tensors change under reparametrization. Appendix D presents element-wise bound alternatives to those presented in Section 3.2. Appendix E explores various results using alternative norms to the Frobenius norm results of the main text. Appendix F presents an analysis on taking a linear combination of the two FIM estimators.

This study deals with neural networks in the sense of geometric transformations acting on the coordinate representation of the underlying data manifold which the data is sampled from. It forms part of an attempt to construct a formalized general theory of neural networks in the setting of Riemannian geometry. From this perspective, the following theoretical results are developed and proven for feedforward networks. First it is shown that residual neural networks are nite dierence approximations to dynamical systems of rst order dierential equations, as opposed to ordinary networks that are static. This implies that the network is learning systems of dierential equations governing the coordinate transformations that represent the data. Second it is shown that a closed form solution of the metric tensor on the underlying data manifold can be found by backpropagating the coordinate representations learned by the neural network itself. This is formulated in a formal abstract sense as a sequence of Lie group actions on the metric bre space in the principal and associated bundles on the data manifold. Toy experiments were run to conrm parts of the proposed theory, as well as to provide intuitions as to how neural networks operate on data.

Recent work has shown that parameterizing and optimizing coordinate transformations using normalizing flows, i.e., invertible neural networks, can significantly accelerate the convergence of spectral approximations. We present the first error estimates for approximating functions using Hermite expansions composed with adaptive coordinate transformations. Our analysis establishes an equivalence principle: approximating a function $f$ in the span of the transformed basis is equivalent to approximating the pullback of $f$ in the span of Hermite functions. This allows us to leverage the classical approximation theory of Hermite expansions to derive error estimates in transformed coordinates in terms of the regularity of the pullback. We present an example demonstrating how a nonlinear coordinate transformation can enhance the convergence of Hermite expansions. Focusing on smooth functions decaying along the real axis, we construct a monotone transport map that aligns the decay of the target function with the Hermite basis. This guarantees spectral convergence rates for the corresponding Hermite expansion. Our analysis provides theoretical insight into the convergence behavior of adaptive Hermite approximations based on normalizing flows, as recently explored in the computational quantum physics literature.

Implicit Neural Representations (INRs) have emerged as a powerful paradigm for representing signals such as images, 3D shapes, signed distance fields, and radiance fields. While significant progress has been made in architecture design (e.g., SIREN, FFC, KAN-based INRs) and optimization strategies (meta-learning, amortization, distillation), existing approaches still suffer from two core limitations: (1) a representation bottleneck that forces a single MLP to uniformly model heterogeneous local structures, and (2) limited scalability due to the absence of a hierarchical mechanism that dynamically adapts to signal complexity. This work introduces Hyper-Coordinate Implicit Neural Representations (HC-INR), a new class of INRs that break the representational bottleneck by learning signal-adaptive coordinate transformations using a hypernetwork. HC-INR decomposes the representation task into two components: (i) a learned multiscale coordinate transformation module that warps the input domain into a disentangled latent space, and (ii) a compact implicit field network that models the transformed signal with significantly reduced complexity. The proposed model introduces a hierarchical hypernetwork architecture that conditions coordinate transformations on local signal features, enabling dynamic allocation of representation capacity. We theoretically show that HC-INR strictly increases the upper bound of representable frequency bands while maintaining Lipschitz stability. Extensive experiments across image fitting, shape reconstruction, and neural radiance field approximation demonstrate that HC-INR achieves up to 4 times higher reconstruction fidelity than strong INR baselines while using 30--60\% fewer parameters.

Learning from demonstration allows robots to acquire complex skills from human demonstrations, but conventional approaches often require large datasets and fail to generalize across coordinate transformations. In this paper, we propose Prompt2Auto, a geometry-invariant one-shot Gaussian process (GeoGP) learning framework that enables robots to perform human-guided automated control from a single motion prompt. A dataset-construction strategy based on coordinate transformations is introduced that enforces invariance to translation, rotation, and scaling, while supporting multi-step predictions. Moreover, GeoGP is robust to variations in the user's motion prompt and supports multi-skill autonomy. We validate the proposed approach through numerical simulations with the designed user graphical interface and two real-world robotic experiments, which demonstrate that the proposed method is effective, generalizes across tasks, and significantly reduces the demonstration burden. Project page is available at: https://prompt2auto.github.io

--In recent years, with the large-scale expansion of graph data, there has been an increased focus on Riemannian manifold data spaces other than Euclidean space. In particular, the development of hyperbolic spaces has been remarkable, and they have high expressive power for graph data with hierarchical structures. Normalized Maximum Likelihood (NML) is employed in regret minimization and model selection. However, existing formulations of NML have been developed primarily in Euclidean spaces and are inherently dependent on the choice of coordinate systems, making it non-trivial to extend NML to Riemannian manifolds. In this study, we define a new NML that reflects the geometric structure of Riemannian manifolds, called the Riemannian manifold NML (Rm-NML). This Rm-NML is invariant under coordinate transformations and coincides with the conventional NML under the natural parameterization in Euclidean space. We extend existing computational techniques for NML to the setting of Riemannian manifolds. Furthermore, we derive a method to simplify the computation of Rm-NML on Riemannian symmetric spaces, which encompass data spaces of growing interest such as hyperbolic spaces. T o illustrate the practical application of our proposed method, we explicitly computed the Rm-NML for normal distributions on hyperbolic spaces. With the recent increase in the scale of graph data, Riemannian manifold data spaces other than Euclidian spaces are attracting attention as latent spaces suitable for graph embedding [1, 2]. For example, hyperbolic spaces have been demonstrated to possess high expressive power for graph data with hierarchical structures [3]. Spherical spaces are particularly effective in representing graph data with cyclic structures [4]. Notably, research on hyperbolic spaces has been particularly remarkable[3]. Specifically, in the field of representation learning, methods that embed hierarchical structures into hyperbolic space have successfully represented such relationships using significantly lower-dimensional space compared to conventional methods based on Euclidean space, while preserving the essential relational information[2].

Due to high-mix-low-volume production, sheet-metal workshops today are challenged by small series and varying orders. As standard automation solutions tend to fall short, SMEs resort to repetitive manual labour impacting production costs and leading to tech-skilled workforces not being used to their full potential. The COOCK+ ROBUST project aims to transform cobots into mobile and reconfigurable production assistants by integrating existing technologies, including 3D object recognition and localisation. This article explores both the opportunities and challenges of enhancing cobotic systems with these technologies in an industrial setting, outlining the key steps involved in the process. Additionally, insights from a past project, carried out by the ACRO research unit in collaboration with an industrial partner, serves as a concrete implementation example throughout.

Solving systems of ordinary differential equations (ODEs) is essential when it comes to understanding the behavior of dynamical systems. Yet, automated solving remains challenging, in particular for nonlinear systems. Computer algebra systems (CASs) provide support for solving ODEs by first simplifying them, in particular through the use of Lie point symmetries. Finding these symmetries is, however, itself a difficult problem for CASs. Recent works in symbolic regression have shown promising results for recovering symbolic expressions from data. Here, we adapt search-based symbolic regression to the task of finding generators of Lie point symmetries. With this approach, we can find symmetries of ODEs that existing CASs cannot find.

There exist numerous nonlinear partial differential equations in dispersive, as well as in dissipative systems which are of broad applicability in a wide range of sp atio-temporally dependent physical and biological settings. For instance, on the dispersive si de, the Nonlinear Schr odinger (NLS) model [1, 2] has been argued to be of relevance to optical [3, 4 ] and atomic physics [5, 6, 7] to plasma [8, 9] as well as fluid research [10, 9] and even to bio logical applications such as the DNA denaturation [11, 12]. This work has also been central to the seminal contributions of S. Aubry, especially in connection to discrete solitons and br eathers [13, 14, 15]. In a similar vein, in dissipative, reaction-diffusion systems one of the central m odels has been the Fisher-KPP (FKPP) equation which was originally conceived in the context of sp atial spread of advantageous alleles, and has since been employed to model species invasion, popul ation dispersal, and ecological front propagation [16, 17]. The FKPP model has also constituted fo r almost a century now a hallmark of reaction-diffusion models with a wide range of application s to cancer modeling, wound healing, flame propagation and a diverse further host of applications up to this day [18, 19] While such classical PDE models have for decades now been at t he center of initially analytical and subsequently computational studies, over the past deca de or so, a new suite of data-driven tools and techniques has met with explosive growth offering a n ew avenue and a fresh perspective enabling unprecedented developments.