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Kenny Chen

Publications and source records attributed to Kenny Chen.

15 recordsLinked to original sources

Distributed Quantum Property Testing with Quantum Carrier Pigeons

We introduce a framework for distributed quantum inference under communication constraints. In our model, $m$ distributed nodes each receive one copy of an unknown $d$-dimensional quantum state $\rho$, before communicating via a constrained one-way communication channel with a central node, which aims to infer some property of $\rho$. This framework generalizes the classical distributed inference framework introduced by Acharya, Canonne, and Tyagi [COLT 2019], by allowing quantum resources such as quantum communication and shared entanglement. Within this setting, we focus on the fundamental problem of quantum state certification: Given a complete description of some state $\sigma$, decide whether $\rho=\sigma$ or $\|\rho-\sigma\|_1\geq \epsilon$. Additionally, we focus on the case of limited communication between distributed nodes and the central node: we assume each communication channel is limited to only $n_c$ bits and $n_q$ qubits with $n_c + n_q \leq \log d$. When all nodes can make use of a shared source of randomness, we show that the copy complexity of distributed state certification is $\Theta(\frac{d^2}{2^{n_q} 2^{n_c/2}\epsilon^2})$. We further demonstrate that shared randomness is necessary to achieve the above complexity, by proving an $\Omega(\frac{d^3}{4^{n_q} 2^{n_c} \epsilon^2})$ lower bound in the $\textit{private-coin}$ setting. Moreover, we develop a private-coin algorithm that matches this bound up to a $\sqrt{\log d}$ factor, showing this complexity is near-optimal. Together, our work establishes a general framework for distributed quantum inference with communication constraints and characterizes the complexity of distributed state certification with limited communication.

quant-ph

A Quantum/Classical Example Oracle Separation for Making Things Up

We study the power of quantum examples, as compared to classical examples, in the PAC learning framework. Here, we have two learning algorithms, both with access to quantum computation, but one gets quantum examples, whereas the other gets classical examples. It was previously unknown whether there were learning tasks that can be efficiently performed but not by the latter. Our primary result is to show that relative to an oracle, there are distributions that can be efficiently generated by a quantum learner with access to quantum examples, but not by a quantum learner with access to only classical examples, making progress to answering this question in the affirmative.

quant-ph

Distributed Property Testing with (Quantum) Carrier Pigeons: Tight Bounds on State Certification

Recently, Doosti et al. introduced the problem of distributed quantum state verification, where $m$ distributed nodes are given a copy of an unknown state $\rho$, and can send limited one way communication to a central node, who has a complete description of a known state $\sigma$. They ask how many distributed nodes $m$ are required, before the central node can succeed at distinguishing whether $\rho=\sigma$ or $\|\rho-\sigma\|_1\geq\varepsilon$ with high probability. In the setting where only quantum communication is allowed, Doosti et al. exhibit conditional lower bounds in both the public and private-coin settings, and a matching upper bound in the public-coin setting. We extend these results, and show unconditional lower bounds for when both classical and quantum communication are permitted. We show the public-coin lower bound is tight by giving an algorithm with a matching upper bound. We also show an almost tight upper bound in the private-coin setting when only quantum communication is permitted.

quant-ph

The Quantumly Fast and the Classically Forrious

We study the extremal Forrelation problem, where, provided with oracle access to Boolean functions $f$ and $g$ promised to satisfy either $\textrm{forr}(f,g)=1$ or $\textrm{forr}(f,g)=-1$, one must determine (with high probability) which of the two cases holds while performing as few oracle queries as possible. It is well known that this problem can be solved with \emph{one} quantum query; yet, Girish and Servedio (TQC 2025) recently showed this problem requires $\widetilde\Omega(2^{n/4})$ classical queries, and conjectured that the optimal lower bound is $\widetilde\Omega(2^{n/2})$. Through a completely different construction, we improve on their result and prove a lower bound of $\Omega(2^{0.4999n})$, which matches the conjectured lower bound up to an arbitrarily small constant in the exponent.

cs.CC

With a Little Help From My Friends: Exploiting Probability Distribution Advice in Algorithm Design

We study online algorithms with predictions using distributional advice, a type of prediction that arises when leveraging expert knowledge or historical data. To demonstrate the usefulness and versatility of this framework, we focus on the fundamental problem of online metric matching, considering both the fractional and integral variants. Our main positive result is, for the former, an algorithm achieving the optimal cost under perfect advice, while smoothly defaulting to competitive ratios comparable to advice-free algorithms as the prediction's quality degrades. For the integral matching, we are able to provide an algorithm with essentially the same guarantees, up to an additive sublinear term. We conclude by discussing how our algorithmic framework can be extended to other online optimization problems.

cs.DS

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.

cs.RO

Integrated Decision Gradients: Compute Your Attributions Where the Model Makes Its Decision

Attribution algorithms are frequently employed to explain the decisions of neural network models. Integrated Gradients (IG) is an influential attribution method due to its strong axiomatic foundation. The algorithm is based on integrating the gradients along a path from a reference image to the input image. Unfortunately, it can be observed that gradients computed from regions where the output logit changes minimally along the path provide poor explanations for the model decision, which is called the saturation effect problem. In this paper, we propose an attribution algorithm called integrated decision gradients (IDG). The algorithm focuses on integrating gradients from the region of the path where the model makes its decision, i.e., the portion of the path where the output logit rapidly transitions from zero to its final value. This is practically realized by scaling each gradient by the derivative of the output logit with respect to the path. The algorithm thereby provides a principled solution to the saturation problem. Additionally, we minimize the errors within the Riemann sum approximation of the path integral by utilizing non-uniform subdivisions determined by adaptive sampling. In the evaluation on ImageNet, it is demonstrated that IDG outperforms IG, Left-IG, Guided IG, and adversarial gradient integration both qualitatively and quantitatively using standard insertion and deletion metrics across three common models.

cs.LG

Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM

This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and real-world efficacy. DLIOM contains several key algorithmic innovations in both the front-end and back-end subsystems to design a resilient LiDAR-inertial architecture that is perceptive to the environment and produces accurate localization and high-fidelity 3D mapping for autonomous robotic platforms. Our ideas spawned after a deep investigation into modern LiDAR SLAM systems and their inabilities to generalize across different operating environments, in which we address several common algorithmic failure points by means of proactive safe-guards to provide long-term operational reliability in the unstructured real world. We detail several important innovations to localization accuracy and mapping resiliency distributed throughout a typical LiDAR SLAM pipeline to comprehensively increase algorithmic speed, accuracy, and robustness. In addition, we discuss insights gained from our ground-up approach while implementing such a complex system for real-time state estimation on resource-constrained systems, and we experimentally show the increased performance of our method as compared to the current state-of-the-art on both public benchmark and self-collected datasets.

cs.RO

Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity. Accelerometer biases and scale factor errors from the IMU's initial calibration are often the major source of inaccuracies when aligning the robot's odometry frame with the inertial frame, especially for low-grade IMUs. Practically, one would simultaneously estimate the true gravity vector, accelerometer biases, and scale factor to improve measurement quality but these quantities are not observable unless the IMU is sufficiently excited. While several methods estimate accelerometer bias and gravity, they do not explicitly address the observability issue nor do they estimate scale factor. We present a fixed-lag factor-graph-based estimator to address both of these issues. In addition to estimating accelerometer scale factor, our method mitigates limited observability by optimizing over a time window an order of magnitude larger than existing methods with significantly lower computational burden. The proposed method, which estimates accelerometer intrinsics and gravity separately from the other states, is enabled by a novel, velocity-agnostic measurement model for intrinsics and gravity, as well as a new method for gravity vector optimization on $S^2$. Accurate IMU state prediction, gravity-alignment, and roll/pitch drift correction are experimentally demonstrated on public and self-collected datasets in diverse environments.

cs.RO

Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swept out by its sensor footprint is maximized. Because this problem exhibits a diminishing returns property known as submodularity, we choose to formulate it as a tree-based sequential decision making process. This formulation allows us to evaluate the effects of the robot's actions on future world coverage states, while simultaneously accounting for traversability risk and the dynamic constraints of the robot. To quickly find near-optimal solutions, we propose an effective approximation to the coverage sensor model which adapts to the local environment. Our method was extensively tested across various complex environments and served as the local exploration algorithm for a competing entry in the DARPA Subterranean Challenge.

cs.RO

Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or computationally costly for resource-constrained mobile robots. To this end, this paper presents Direct LiDAR-Inertial Odometry (DLIO), a lightweight LiDAR-inertial odometry algorithm with a new coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction. The key to our method lies in the construction of a set of analytical equations which are parameterized solely by time, enabling fast and parallelizable point-wise deskewing. This method is feasible only because of the strong convergence properties in our nonlinear geometric observer, which provides provably correct state estimates for initializing the sensitive IMU integration step. Moreover, by simultaneously performing motion correction and prior generation, and by directly registering each scan to the map and bypassing scan-to-scan, DLIO's condensed architecture is nearly 20% more computationally efficient than the current state-of-the-art with a 12% increase in accuracy. We demonstrate DLIO's superior localization accuracy, map quality, and lower computational overhead as compared to four state-of-the-art algorithms through extensive tests using multiple public benchmark and self-collected datasets.

cs.RO

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR odometry solution with consistent and accurate localization for computationally-limited robotic platforms. Our Direct LiDAR Odometry (DLO) method includes several key algorithmic innovations which prioritize computational efficiency and enables the use of dense, minimally-preprocessed point clouds to provide accurate pose estimates in real-time. This is achieved through a novel keyframing system which efficiently manages historical map information, in addition to a custom iterative closest point solver for fast point cloud registration with data structure recycling. Our method is more accurate with lower computational overhead than the current state-of-the-art and has been extensively evaluated in multiple perceptually-challenging environments on aerial and legged robots as part of NASA JPL Team CoSTAR's research and development efforts for the DARPA Subterranean Challenge.

cs.RO

Resilient and consistent multirobot cooperative localization with covariance intersection

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To enhance the resilience of multirobot cooperative localization algorithms in a distributed system, we use covariance intersection to formalize a localization algorithm with an explicit communication update and ensure estimation consistency at the same time. We investigate the covariance boundedness criterion of our algorithm with respect to communication and observation graphs, demonstrating provable localization performance under even sparse communications topologies. We substantiate the resilience of our algorithm as well as the boundedness analysis through experiments on simulated and benchmark physical data against varying communications connectivity and failure metrics. Especially when inter-robot communication is entirely blocked or partially unavailable, we demonstrate that our method is less affected and maintains desired performance compared to existing cooperative localization algorithms.

cs.RO

Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still plague these systems. To this end, this work presents an unsupervised learning framework that is able to predict at-scale depth maps and egomotion, in addition to camera intrinsics, from a sequence of monocular images via a single network. Our method incorporates both spatial and temporal geometric constraints to resolve depth and pose scale factors, which are enforced within the supervisory reconstruction loss functions at training time. Only unlabeled stereo sequences are required for training the weights of our single-network architecture, which reduces overall implementation overhead as compared to previous methods. Our results demonstrate strong performance when compared to the current state-of-the-art on multiple sequences of the KITTI driving dataset and can provide faster training times with its reduced network complexity.

cs.CV

Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance

In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navigation through cluttered environments. Our algorithm combines an object detection pipeline with a recurrent neural network (RNN) which infers the covariance of state estimates through each step of our MPC's finite time horizon. The RNN model is trained on a dataset that comprises of robot and landmark poses generated from camera images and inertial measurement unit (IMU) readings via a state-of-the-art visual-inertial odometry framework. To detect and extract object locations for avoidance, we use a custom-trained convolutional neural network model in conjunction with a feature extractor to retrieve 3D centroid and radii boundaries of nearby obstacles. The robustness of our methods is validated on complex quadruped robot dynamics and can be generally applied to most robotic platforms, demonstrating autonomous behaviors that can plan fast and collision-free paths towards a goal point.

cs.RO