PBW deformations of Koszul algebras over a nonsemisimple ring

Let $B$ be a generalized Koszul algebra over a finite dimensional algebra $S$. We construct a bimodule Koszul resolution of $B$ when the projective dimension of $S_B$ equals 2. Using this we prove a Poincar\'e-Birkhoff-Witt (PBW) type theorem for a deformation of a generalized Koszul algebra. When the projective dimension of $S_B$ is greater than 2, we construct bimodule Koszul resolutions for generalized smash product algebras obtained from braidings between finite dimensional algebras and Koszul algebras, and then prove the PBW type theorem. The results obtained can be applied to standard Koszul Artin-Schelter Gorenstein algebras in the sense of Minamoto and Mori.Comment: Section 3 revised, to appear in Math.

Nakayama automorphisms of double Ore extensions of Koszul regular algebras

Let $A$ be a Koszul Artin-Schelter regular algebra and $\sigma$ an algebra homomorphism from $A$ to $M_{2\times 2}(A)$. We compute the Nakayama automorphisms of a trimmed double Ore extension $A_P[y_1, y_2; \sigma]$ (introduced in \cite{ZZ08}). Using a similar method, we also obtain the Nakayama automorphism of a skew polynomial extension $A[t; \theta]$, where $\theta$ is a graded algebra automorphism of $A$. These lead to a characterization of the Calabi-Yau property of $A_P[y_1, y_2; \sigma]$, the skew Laurent extension $A[t^{\pm 1}; \theta]$ and $A[y_1^{\pm 1}, y_2^{\pm 1}; \sigma]$ with $\sigma$ a diagonal type.Comment: The paper has been heavily revised including the title, and will appear in Manuscripta Mathematic

Hopf algebra actions on differential graded algebras and applications

Let $H$ be a finite dimensional semisimple Hopf algebra, $A$ a differential graded (dg for short) $H$-module algebra. Then the smash product algebra $A\#H$ is a dg algebra. For any dg $A\#H$-module $M$, there is a quasi-isomorphism of dg algebras: \mathrm{RHom}_A(M,M)\#H\longrightarrow \mathrm{RHom}_{A\#H}(M\ot H,M\ot H). This result is applied to $d$-Koszul algebras, Calabi-Yau algebras and AS-Gorenstein dg algebrasComment: to appear in Bull. Belg. Math So

Deformations of Koszul Artin-Schelter Gorenstein algebras

We compute the Nakayama automorphism of a PBW-deformation of a Koszul Artin-Schelter Gorenstein algebra of finite global dimension, and give a criterion for an augmented PBW-deformation of a Koszul Calabi-Yau algebra to be Calabi-Yau. The relations between the Calabi-Yau property of augmented PBW-deformations and that of non-augmented cases are discussed. The Nakayama automorphisms of PBW-deformations of Koszul Artin-Schelter Gorenstein algebras of global dimensions 2 and 3 are given explicitly. We show that if a PBW-deformation of a graded Calabi-Yau algebra is still Calabi-Yau, then it is defined by a potential under some mild conditions. Some classical results are also recovered. Our main method used in this paper is elementary and based on linear algebra. The results obtained in this paper will be applied in a subsequent paper.Comment: to appear at Manuscripta Mat

Derived HH-module endomorphism rings

Let $H$ be a Hopf algebra, $A/B$ be an $H$-Galois extension. Let $D(A)$ and $D(B)$ be the derived categories of right $A$-modules and of right $B$-modules respectively. An object $M^\cdot\in D(A)$ may be regarded as an object in $D(B)$ via the restriction functor. We discuss the relations of the derived endomorphism rings E_A(M^\cdot)=\op_{i\in\mathbb{Z}}\Hom_{D(A)}(M^\cdot,M^\cdot[i]) and E_B(M^\cdot)=\op_{i\in\mathbb{Z}}\Hom_{D(B)}(M^\cdot,M^\cdot[i]). If $H$ is a finite dimensional semisimple Hopf algebra, then $E_A(M^\cdot)$ is a graded subalgebra of $E_B(M^\cdot)$. In particular, if $M$ is a usual $A$-module, a necessary and sufficient condition for $E_B(M)$ to be an $H^*$-Galois graded extension of $E_A(M)$ is obtained. As an application of the results, we show that the Koszul property is preserved under Hopf Galois graded extensions.Comment: to appear at Glasgow Mathematical Journa

Probabilistically Safe Policy Transfer

Although learning-based methods have great potential for robotics, one concern is that a robot that updates its parameters might cause large amounts of damage before it learns the optimal policy. We formalize the idea of safe learning in a probabilistic sense by defining an optimization problem: we desire to maximize the expected return while keeping the expected damage below a given safety limit. We study this optimization for the case of a robot manipulator with safety-based torque limits. We would like to ensure that the damage constraint is maintained at every step of the optimization and not just at convergence. To achieve this aim, we introduce a novel method which predicts how modifying the torque limit, as well as how updating the policy parameters, might affect the robot's safety. We show through a number of experiments that our approach allows the robot to improve its performance while ensuring that the expected damage constraint is not violated during the learning process

The Green rings of pointed tensor categories of finite type

In this paper, we compute the Clebsch-Gordan formulae and the Green rings of connected pointed tensor categories of finite type.Comment: 14 page