This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP), trained with randomized short trajectories over the state-space, acts as a surrogate model for the underlying dynamical system. Then, a combinatorial representation is built and used to describe the dynamics in the form of a directed acyclic graph, known as Morse graph. The Morse graph is able to describe the system's attractors and their corresponding regions of attraction (RoA). Furthermore, a pointwise confidence level of the global dynamics estimation over the entire state space is provided. In contrast to alternatives, the framework does not require estimation of Lyapunov functions, alleviating the need for high prediction accuracy of the GP. The framework is suit-able for data-driven controllers that do not expose an analytical model as long as Lipschitz-continuity is satisfied. The method is compared against established analytical and recent machine learning alternatives for estimating Roas, outperforming them in data efficiency without sacrificing accuracy. Link to code: https://go.rutgers.edu/49hy35en

Large programs of dynamic gene expression, like cell cyles and circadian rhythms, are controlled by a relatively small "core" network of transcription factors and post-translational modifiers, working in concerted mutual regulation. Recent work suggests that system-independent, quantitative features of the dynamics of gene expression can be used to identify core regulators. We introduce an approach of iterative network hypothesis reduction from time-series data in which increasingly complex features of the dynamic expression of individual, pairs, and entire collections of genes are used to infer functional network models that can produce the observed transcriptional program. The culmination of our work is a computational pipeline, Iterative Network Hypothesis Reduction from Temporal Dynamics (Inherent dynamics pipeline), that provides a priority listing of targets for genetic perturbation to experimentally infer network structure. We demonstrate the capability of this integrated computational pipeline on synthetic and yeast cell-cycle data.

Since the seminal 1961 paper of Monod and Jacob, mathematical models of biomolecular circuits have guided our understanding of cell regulation. Model-based exploration of the functional capabilities of any given circuit requires systematic mapping of multidimensional spaces of model parameters. Despite significant advances in computational dynamical systems approaches, this analysis remains a nontrivial task. Here, we use a nonlinear system of ordinary differential equations to model oocyte selection in Drosophila, a robust symmetry-breaking event that relies on autoregulatory localization of oocyte-specification factors. By applying an algorithmic approach that implements symbolic computation and topological methods, we enumerate all phase portraits of stable steady states in the limit when nonlinear regulatory interactions become discrete switches. Leveraging this initial exact partitioning and further using numerical exploration, we locate parameter regions that are dense in purely asymmetric steady states when the nonlinearities are not infinitely sharp, enabling systematic identification of parameter regions that correspond to robust oocyte selection. This framework can be generalized to map the full parameter spaces in a broad class of models involving biological switches.

We demonstrate a modeling and computational framework that allows for rapid screening of thousands of potential network designs for particular dynamic behavior. To illustrate this capability we consider the problem of hysteresis, a prerequisite for construction of robust bistable switches and hence a cornerstone for construction of more complex synthetic circuits. We evaluate and rank most three node networks according to their ability to robustly exhibit hysteresis where robustness is measured with respect to parameters over multiple dynamic phenotypes. Focusing on the highest ranked networks, we demonstrate how additional robustness and design constraints can be applied. We compare our results to more traditional methods based on specific parameterization of ordinary differential equation models and demonstrate a strong qualitative match at a small fraction of the computational cost.

This paper describes a general pipeline for generating optimal vector representations of topological features of data for use with machine learning algorithms. This pipeline can be viewed as a costly black-box function defined over a complex configuration space, each point of which specifies both how features are generated and how predictive models are trained on those features. We propose using state-of-the-art Bayesian optimization algorithms to inform the choice of topological vectorization hyperparameters while simultaneously choosing learning model parameters. We demonstrate the need for and effectiveness of this pipeline using two difficult biological learning problems, and illustrate the nontrivial interactions between topological feature generation and learning model hyperparameters.