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Solitons on Statistical Manifolds and Their Submanifolds

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Abstract

Statistical manifolds, introduced by Amari in information geometry, carry a pair of dual torsion-free connections (∇,∇∗)(\nabla,\nabla^{*}) together with a Riemannian metric. In this chapter we survey the theory of statistical solitons, that is, vector fields and constants that solve the Ricci-soliton equation simultaneously for ∇\nabla and ∇∗\nabla^{*}, together with the statistical analogue of almost quasi-Yamabe solitons. We discuss two principal settings: (i) statistical warped products R×fN2\R\times_f N_2 and N1×fRN_1\times_f\R for (pseudo) Riemannian manifolds N1N_{1} and N2N_{2}, where the soliton equation constrains the warping function; and (ii) statistical submanifolds of Kenmotsu statistical manifolds, where the position of the Reeb field ξξ relative to the submanifold and the presence of concircular or concurrent vector fields determine the Einstein, ηη-Einstein or quasi-Einstein character of the submanifold. We further review the results of Blaga and Chen on gradient solitons and statistical structures, in particular the connections ∇θ\nabla^θ defined by a 11-form, volume formulas and bounds for the Ricci tensor. We also describe Chen-type inequalities for statistical warped product submanifolds, which give the extrinsic context in which such solitons live. Key steps of the proofs, remarks on the sharpness of hypotheses, worked examples, and open problems are included.

Introduction

Information geometry and statistical manifolds

Information geometry is an interdisciplinary field in which probability theory and statistics are studied with the tools of differential geometry. If Ξ\Xi is a fixed event space and

B‾={P(x,Θ):Θ=(Θ1,…,Θn)∈Ω⊂Rn}\overline{\mathcal{B}} = \{P(x,\Theta) : \Theta= (\Theta_{1},\ldots,\Theta_{n}) \in\Omega\subset\mathbb{R}^{n}\}

is a smooth nn-parameter family of probability densities on Ξ\Xi, then the Fisher information

gij(Θ)=∫Ξ∂log⁡P(x,Θ)∂Θi∂log⁡P(x,Θ)∂ΘjP(x,Θ) dxg_{ij}(\Theta) = \int_{\Xi} \frac{\partial\log\mathcal{P}(x,\Theta)}{\partial\Theta_i} \frac{\partial\log\mathcal{P}(x,\Theta)}{\partial\Theta_j} \mathcal{P}(x,\Theta)\,dx

defines a Riemannian metric on B\mathbb{B}, so that points of the manifold are probability distributions. Together with the Fisher metric, B\mathbb{B} carries a one-parameter family of affine connections (the α\alpha-connections). Two connections ∇(1)\nabla^{(1)} and ∇(−1)\nabla^{(-1)} are dual with respect to the metric, and the abstract structure obtained in this way was formalised by Amari [3] and Lauritzen [25] as a statistical manifold. Affine (dually flat) geometry and the hyperbolic geometry of statistical models are closely related, which explains why curvature properties of statistical manifolds carry statistical meaning. Applications range from the ergodic hierarchy of statistical models on curved manifolds to the asymptotic behaviour of the information geometric complexity of Gaussian models in the presence of microcorrelations [2, 20].

From the viewpoint of differential geometry, a statistical manifold is a Riemannian manifold (N,g)(N,g) together with a torsion-free connection ∇\nabla such that ∇g\nabla g is totally symmetric (the Codazzi condition); the dual connection ∇∗\nabla^{*} is then also torsion-free, and 12(∇+∇∗)\frac{1}{2}(\nabla+\nabla^{*}) is the Levi-Civita connection. Because ∇\nabla is in general not metric, the usual Riemannian notions (curvature, sectional curvature, Ricci tensor, mean curvature of submanifolds) split into a pair of dual quantities, and one has to decide how to combine them. A convenient choice is the statistical curvature tensor and the sectional curvature of Opozda [33, 34]. The submanifold theory of statistical manifolds, with dual second fundamental forms hh, h∗h^{*} and dual shape operators, was developed by Vos [41] and has since produced many curvature inequalities (Chen-type, Wintgen-type and Casorati-type) for statistical submanifolds [28, 38]. Additionally, statistical warped product submersions were introduced and investigated by Siddiqui et al. [37].

Ricci solitons and their variants

A second source of inspiration is the theory of geometric flows. Hamilton’s Ricci flow [21] deforms a metric in the direction of its Ricci tensor, and Ricci solitons are its self-similar solutions: a triple (g,ζ,λ)(g,\zeta,\lambda) with

Ric⁡+12Lζg+λg=0.\operatorname{Ric}+\frac{1}{2}\mathcal{L}_{\zeta}g+\lambda g=0.

They generalise Einstein metrics (the case ζ=0\zeta=0 or ζ\zeta Killing) and are classified as shrinking, steady or expanding according to the sign of λ\lambda; they model the formation of singularities of the flow and are of interest in geometric analysis, general relativity and string theory. The Yamabe flow instead preserves the conformal class of the metric and its fixed points are metrics of constant scalar curvature; Yamabe solitons are the corresponding self-similar solutions. For dim⁡=2\dim=2 the two flows coincide, while in higher dimensions they differ because the Ricci flow does not preserve the conformal class. Further generalisations, in which the soliton constant is replaced by a function and an extra term ωη⊗η\omega\eta\otimes\eta is included, lead to almost and quasi-Yamabe solitons [15, 22], η\eta-Ricci solitons and Ricci almost solitons.

These notions have been studied intensively on almost contact manifolds, and in particular on Kenmotsu manifolds [23], see, for instance, [29, 6, 9]. Another fruitful direction is to study solitons on submanifolds. Here, concircular vector fields [17], whose integral curves are geodesics and for which ∇Ev=∂E\nabla_{E}v=\partial E, play a distinguished role, as shown by Chen [12] for Ricci solitons on Riemannian submanifolds: the tangential part of a concircular field of the ambient space is again concircular on a submanifold precisely under an umbilicity condition, and the soliton equation then expresses the Ricci tensor of the submanifold in terms of its second fundamental form.

Solitons in the statistical setting

The soliton equation involves the Ricci tensor and the covariant derivative of the potential field, and both make sense for an arbitrary linear connection. This observation of Crasmareanu [16] allows one to speak about a ∇\nabla-Ricci soliton for a connection ∇\nabla different from the Levi-Civita connection. On a statistical manifold there are two natural candidates, ∇\nabla and ∇∗\nabla^{*}, and demanding that the same pair (ζ,λ)(\zeta, \lambda) solves the equation for both leads to the notion of a statistical soliton. The condition is genuinely stronger than a soliton condition for a single connection, and it couples the geometry of the two dual connections. As a consequence, existence questions become rigid: obstructions appear, for instance, from the difference tensor T=∇0−∇∗\mathcal{T} = \nabla^{0} - \nabla^{*} of the statistical structure (see § 13). In addition, several necessary and sufficient conditions for some particular couples (g,∇)(g, \nabla) of pseudo-Riemannian metrics and affine connections to be statistical structures were obtained if one has gradient almost Einstein, almost Ricci, almost Yamabe solitons, or a more general type of solitons on the manifold [8].

Warped products and Kenmotsu statistical manifolds

Two families of manifolds provide the natural testing ground for this theory. The first consists of warped products [5]. They are among the most fruitful generalisations of Riemannian products, are the standard building blocks of space-time models in general relativity [11, 13], and carry a natural dualistic structure [39]; Einstein statistical warped products and Wintgen-type inequalities for their submanifolds have been studied in [4, 28]. Since the soliton equation on a warped product N1×fN2N_{1} \times_{f} N_{2} decomposes into base, fibre, and mixed components, it produces ordinary differential conditions on the warping function ff, which makes solitons on warped products computable and geometrically transparent (§ 11).

The second family consists of Kenmotsu statistical manifolds, introduced by Furuhata, Hasegawa, Okuyama and Sato [19] by imposing a compatible statistical structure on a Kenmotsu manifold; they are obtained as warped products of a holomorphic statistical manifold [18] and a line. Kenmotsu geometry has applications in the mechanics of time-dependent Hamiltonian systems, geometrical optics, and thermodynamics, and its statistical counterpart is of comparable importance. The Reeb field ξ\xi gives a distinguished potential for the soliton equation, and the relative position of ξ\xi with respect to a submanifold (tangent or normal) leads to different classes of submanifolds: η\eta-Einstein in the tangent case and Einstein in the normal case [1].

Aim and contents of this chapter

The purpose of this chapter is to give a unified and reasonably self-contained account of these developments. We shall explain how

  • the statistical soliton equation is formulated and why it is rigid (§ 7);

  • gradient solitons decide when Hessian or Ricci metrics, together with a suitable connection, form (nearly) statistical structures, and the connection ∇θ\nabla^{\theta} defined by a 11-form leads to volume formulas and Ricci-norm bounds (§ 8);

  • on statistical warped products R×fN2\mathbb{R} \times_{f} N_{2} and N1×fRN_{1} \times_{f} \mathbb{R} the soliton equation constrains the warping function and induces solitons on base or fibre (§ 11);

  • on submanifolds of Kenmotsu statistical manifolds, the position of ξ\xi and the presence of concircular or concurrent vector fields determine the Einstein, η\eta-Einstein or quasi-Einstein

character of the submanifold, and the scalar curvature relation for almost quasi-Yamabe solitons (§ 12–§ 15);

  • Chen-type inequalities for statistical warped product submanifolds relate the intrinsic scalar curvature to the extrinsic mean curvatures and to the Laplacian of the warping function (§ 16).

We include the key steps of the proofs, remarks on the role of the hypotheses and on sign conventions, explicit examples (§ 17), and a list of open problems (§ 18).

Organisation. Section 2 collects the basic notions on statistical manifolds, statistical curvature and statistical submanifolds. Section 3 introduces statistical solitons, almost quasi-Yamabe solitons and concircular vector fields. Section 4 reviews gradient solitons and statistical structures after Blaga and Chen. Section 5 recalls statistical warped products and Section 6 describes statistical solitons on them. Section 7 reviews Kenmotsu statistical manifolds, and Sections 8–10 study solitons on their submanifolds, with and without concircular fields. Section 11 describes the Chen inequality for statistical warped product submanifolds. Section 12 contains explicit examples, and Section 13 concludes with remarks and open problems.

Conventions. All manifolds are smooth and connected; Γ(TN)\Gamma(TN) denotes smooth vector fields; ∇~0\widetilde{\nabla}^{0} is the Levi-Civita connection; objects with a star refer to the dual connection ∇~∗\widetilde{\nabla}^{*}, and a superscript 0 to the Levi-Civita connection. Statements proved for ∇\nabla have dual versions for ∇∗\nabla^{*} obtained by interchanging ∇\nabla and ∇∗\nabla^{*} (and T↦−T\mathcal{T} \mapsto-\mathcal{T}).

Preliminaries

Statistical manifolds

Let (N~,g~)(\widetilde{N},\widetilde{g}) be a (pseudo-)Riemannian manifold and ∇~\widetilde{\nabla} an affine connection on N~\widetilde{N}. The dual connection ∇~∗\widetilde{\nabla}^{*} of ∇~\widetilde{\nabla} with respect to g~\widetilde{g} is defined by

Eg~(F,G)=g~(∇~EF,G)+g~(F,∇~E∗G),E,F,G∈Γ(TN~),(1)E\widetilde{g}(F,G)=\widetilde{g}(\widetilde{\nabla}_{E}F,G)+\widetilde{g}(F,\widetilde{\nabla}^{*}_{E}G), \qquad E,F,G\in\Gamma(T\widetilde{N}), \tag*{(1)}

where Γ(TN~)\Gamma(T\widetilde{N}) denotes the space of smooth sections on the tangent bundle TN~T\widetilde{N} of N~\widetilde{N}.

Definition 2.1. The triple (N~,∇~,g~)(\widetilde{N},\widetilde{\nabla},\widetilde{g}) is a statistical manifold if

  1. the Codazzi equation

(∇~Eg~)(F,G)=(∇~Fg~)(E,G)(\widetilde{\nabla}_{E}\widetilde{g})(F,G)=(\widetilde{\nabla}_{F}\widetilde{g})(E,G)

holds, and

  1. ∇~\widetilde{\nabla} is torsion-free.

In this case (∇~∗,g~)(\widetilde{\nabla}^{*},\widetilde{g}) is again a statistical structure,

(∇~∗)∗=∇~(\widetilde{\nabla}^{*})^{*}=\widetilde{\nabla}

and

∇~0=12(∇~+∇~∗)\widetilde{\nabla}^{0}=\frac{1}{2}(\widetilde{\nabla}+\widetilde{\nabla}^{*})

is the Levi-Civita connection of g~\widetilde{g}.

Equivalently, a statistical structure is obtained as

∇~=∇~0+T,\widetilde{\nabla}=\widetilde{\nabla}^{0}+\mathcal{T},

where T∈Γ(T(1,2)N~)\mathcal{T}\in\Gamma(T^{(1,2)}\widetilde{N}) is the symmetric difference tensor satisfying

T(E,F)=T(F,E),g~(T(E,F),G)=g~(F,T(E,G)),(2)\mathcal{T}(E,F)=\mathcal{T}(F,E),\qquad\widetilde{g}(\mathcal{T}(E,F),G)=\widetilde{g}(F,\mathcal{T}(E,G)), \tag*{(2)}

and then ∇~∗=∇~0−T\widetilde{\nabla}^{*}=\widetilde{\nabla}^{0}-\mathcal{T}.

Statistical curvature

Let Rie⁡\operatorname{Rie}, Rie⁡∗\operatorname{Rie}^{*} and Rie⁡0\operatorname{Rie}^{0} denote the curvature tensors of ∇\nabla, ∇∗\nabla^{*} and ∇0\nabla^{0}. The statistical curvature tensor is

S=12(Rie⁡+Rie⁡∗)=Rie⁡0+[TE,TF],(3)S=\frac{1}{2}(\operatorname{Rie}+\operatorname{Rie}^{*})=\operatorname{Rie}^{0}+[\mathcal{T}_{E},\mathcal{T}_{F}], \tag*{(3)}

(see [19]). Following Opozda [33, 34], the statistical sectional curvature of the plane spanned by orthonormal E,FE,F is

Sec⁡(E∧F)=g(S(E,F)F,E)=12(g(Rie⁡(E,F)F,E)+g(Rie⁡∗(E,F)F,E)),(4)\operatorname{Sec}(E\wedge F)=g(S(E,F)F,E)=\frac{1}{2}\bigl(g(\operatorname{Rie}(E,F)F,E)+g(\operatorname{Rie}^{*}(E,F)F,E)\bigr), \tag*{(4)}

and for an orthonormal basis {e1,…,em}\{e_{1},\ldots,e_{m}\} the scalar curvature is

σ∇,∇∗=∑i<jSec⁡(ei∧ej).\sigma^{\nabla,\nabla^{*}}=\sum_{i<j}\operatorname{Sec}(e_{i}\wedge e_{j}).

The Ricci tensors Ric⁡\operatorname{Ric} and Ric⁡∗\operatorname{Ric}^{*} of ∇\nabla and ∇∗\nabla^{*} are the traces of E↦Rie⁡(E,F)GE\mapsto\operatorname{Rie}(E,F)G and E↦Rie⁡∗(E,F)GE\mapsto\operatorname{Rie}^{*}(E,F)G.

A statistical manifold (N~,∇~,g~)(\widetilde{N},\widetilde{\nabla},\widetilde{g}) is of constant curvature c~\widetilde{c} if

S(E,F)G=c~(g(F,G)E−g(E,G)F).S(E,F)G=\widetilde{c}\bigl(g(F,G)E-g(E,G)F\bigr).

Statistical submanifolds

Let NN be a submanifold of (N~,∇~,g~)(\widetilde{N},\widetilde{\nabla},\widetilde{g}) with induced statistical structure (∇,g)(\nabla,g). The Gauss and Weingarten formulae read [41]

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