Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited structure is \emph{separability} -- where some variables (e.g., visual landmarks) appear linearly in the residuals and, for any estimate of the remaining variables (e.g., poses), have a closed-form solution. Variable projection (VarPro) methods are a family of techniques that exploit this structure by analytically eliminating the linear variables and presenting a reduced problem in the remaining variables that has favorable properties. However, VarPro has seen limited use in robotic perception; a major challenge arises from gauge symmetries (e.g., cost invariance to global shifts and rotations), which are common in perception and induce specific computational challenges in standard VarPro approaches. We present a VarPro scheme designed for problems with gauge symmetries that jointly exploits separability and sparsity. Our method can be applied as a one-time preprocessing step to construct a \emph{matrix-free Schur complement operator}. This operator allows efficient evaluation of costs, gradients, and Hessian-vector products of the reduced problem and readily integrates with standard iterative NLS solvers. We provide precise conditions under which our method applies, and describe extensions when these conditions are only partially met. Across synthetic and real benchmarks in SLAM, SNL, and SfM, our approach achieves up to \textbf{2$\times$--35$\times$ faster runtimes} than state-of-the-art methods while maintaining accuracy. We release an open-source C++ implementation and all datasets from our experiments.

Understanding the inner workings of neural networks, including transformers, remains one of the most challenging puzzles in machine learning. This study introduces a novel approach by applying the principles of gauge symmetries, a key concept in physics, to neural network architectures. By regarding model functions as physical observables, we find that parametric redundancies of various machine learning models can be interpreted as gauge symmetries. We mathematically formulate the parametric redundancies in neural ODEs, and find that their gauge symmetries are given by spacetime diffeomorphisms, which play a fundamental role in Einstein's theory of gravity. Viewing neural ODEs as a continuum version of feedforward neural networks, we show that the parametric redundancies in feedforward neural networks are indeed lifted to diffeomorphisms in neural ODEs. We further extend our analysis to transformer models, finding natural correspondences with neural ODEs and their gauge symmetries. The concept of gauge symmetries sheds light on the complex behavior of deep learning models through physics and provides us with a unifying perspective for analyzing various machine learning architectures.

Lattice gauge equivariant convolutional neural networks (L-CNNs) are a framework for convolutional neural networks that can be applied to non-Abelian lattice gauge theories without violating gauge symmetry. We demonstrate how L-CNNs can be equipped with global group equivariance. This allows us to extend the formulation to be equivariant not just under translations but under global lattice symmetries such as rotations and reflections. Additionally, we provide a geometric formulation of L-CNNs and show how convolutions in L-CNNs arise as a special case of gauge equivariant neural networks on SU($N$) principal bundles.

The introduction of relevant physical information into neural network architectures has become a widely used and successful strategy for improving their performance. In lattice gauge theories, such information can be identified with gauge symmetries, which are incorporated into the network layers of our recently proposed Lattice Gauge Equivariant Convolutional Neural Networks (L-CNNs). L-CNNs can generalize better to differently sized lattices than traditional neural networks and are by construction equivariant under lattice gauge transformations. In these proceedings, we present our progress on possible applications of L-CNNs to Wilson flow or continuous normalizing flow. Our methods are based on neural ordinary differential equations which allow us to modify link configurations in a gauge equivariant manner. For simplicity, we focus on simple toy models to test these ideas in practice.

Summary: A new machine-learning algorithm is helping researchers uncover the secrets of the quark-gluon plasma. It could hardly be more complicated: tiny particles whir around wildly with extremely high energy, countless interactions occur in the tangled mess of quantum particles, and this results in a state of matter known as "quark-gluon plasma". Immediately after the Big Bang, the entire universe was in this state; today it is produced by high-energy atomic nucleus collisions, for example at CERN. Such processes can only be studied using high-performance computers and highly complex computer simulations whose results are difficult to evaluate. Therefore, using artificial intelligence or machine learning for this purpose seems like an obvious idea.

It could hardly be more complicated: tiny particles whir around wildly with extremely high energy, countless interactions occur in the tangled mess of quantum particles, and this results in a state of matter known as "quark-gluon plasma". Immediately after the Big Bang, the entire universe was in this state; today it is produced by high-energy atomic nucleus collisions, for example at CERN. Such processes can only be studied using high-performance computers and highly complex computer simulations whose results are difficult to evaluate. Therefore, using artificial intelligence or machine learning for this purpose seems like an obvious idea. Ordinary machine-learning algorithms, however, are not suitable for this task.

Artificial intelligence is being used for many extremely complex tasks. So why not use machine learning to study particle physics? As it turns out, this is not easy, because of some special mathematical properties of particle physics. But now, a neural network has been developed that can be used to study quark gluon plasma - the state of the universe after the Big Bang.

In these proceedings we present lattice gauge equivariant convolutional neural networks (L-CNNs) which are able to process data from lattice gauge theory simulations while exactly preserving gauge symmetry. We review aspects of the architecture and show how L-CNNs can represent a large class of gauge invariant and equivariant functions on the lattice. We compare the performance of L-CNNs and non-equivariant networks using a non-linear regression problem and demonstrate how gauge invariance is broken for non-equivariant models.

Institute for Theoretical Physics, TU Wien, Austria (Dated: December 25, 2020) We propose Lattice gauge equivariant Convolutional Neural Networks (L-CNNs) for generic machine learning applications on lattice gauge theoretical problems. At the heart of this network structure is a novel convolutional layer that preserves gauge equivariance while forming arbitrarily shaped Wilson loops in successive bilinear layers. We demonstrate that L-CNNs can learn and generalize gauge invariant quantities that traditional convolutional neural networks are incapable of finding. Gauge field theories are an important cornerstone of larger symmetry space is available [33]. This impressive result was transported along a given closed path.