Continuous Occupancy Mapping in Dynamic Environments Using Particles

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem, wherein a large grid size is unfavorable for motion planning, while a small grid size lowers efficiency and causes gaps and inconsistencies. To tackle this problem, this paper generalizes the particle-based map into continuous space and builds an efficient 3D egocentric local map. A dual-structure subspace division paradigm, composed of a voxel subspace division and a novel pyramid-like subspace division, is proposed to propagate particles and update the map efficiently with the consideration of occlusions. The occupancy status of an arbitrary point in the map space can then be estimated with the particles' weights. To further enhance the performance of simultaneously modeling static and dynamic obstacles and minimize noise, an initial velocity estimation approach and a mixture model are utilized. Experimental results show that our map can effectively and efficiently model both dynamic obstacles and static obstacles. Compared to the state-of-the-art grid-form particle-based map, our map enables continuous occupancy estimation and substantially improves the performance in different resolutions.Comment: This paper has been accepted by IEEE Transactions on Robotic

Subspace Variational Quantum Simulator

Quantum simulation is one of the key applications of quantum computing, which can accelerate research and development in chemistry, material science, etc. Here, we propose an efficient method to simulate the time evolution driven by a static Hamiltonian, named subspace variational quantum simulator (SVQS). SVQS employs the subspace-search variational eigensolver (SSVQE) to find a low-energy subspace and further extends it to simulate dynamics within the low-energy subspace. More precisely, using a parameterized quantum circuit, the low-energy subspace of interest is encoded into a computational subspace spanned by a set of computational basis, where information processing can be easily done. After the information processing, the computational subspace is decoded to the original low-energy subspace. This allows us to simulate the dynamics of low-energy subspace with lower overhead compared to existing schemes. While the dimension is restricted for feasibility on near-term quantum devices, the idea is similar to quantum phase estimation and its applications such as quantum linear system solver and quantum metropolis sampling. Because of this simplicity, we can successfully demonstrate the proposed method on the actual quantum device using Regetti Quantum Cloud Service. Furthermore, we propose a variational initial state preparation for SVQS, where the initial states are searched from the simulatable eigensubspace. Finally, we demonstrate SVQS on Rigetti Quantum Cloud Service

Estimating Time-Varying Effective Connectivity in High-Dimensional fMRI Data Using Regime-Switching Factor Models

Recent studies on analyzing dynamic brain connectivity rely on sliding-window analysis or time-varying coefficient models which are unable to capture both smooth and abrupt changes simultaneously. Emerging evidence suggests state-related changes in brain connectivity where dependence structure alternates between a finite number of latent states or regimes. Another challenge is inference of full-brain networks with large number of nodes. We employ a Markov-switching dynamic factor model in which the state-driven time-varying connectivity regimes of high-dimensional fMRI data are characterized by lower-dimensional common latent factors, following a regime-switching process. It enables a reliable, data-adaptive estimation of change-points of connectivity regimes and the massive dependencies associated with each regime. We consider the switching VAR to quantity the dynamic effective connectivity. We propose a three-step estimation procedure: (1) extracting the factors using principal component analysis (PCA) and (2) identifying dynamic connectivity states using the factor-based switching vector autoregressive (VAR) models in a state-space formulation using Kalman filter and expectation-maximization (EM) algorithm, and (3) constructing the high-dimensional connectivity metrics for each state based on subspace estimates. Simulation results show that our proposed estimator outperforms the K-means clustering of time-windowed coefficients, providing more accurate estimation of regime dynamics and connectivity metrics in high-dimensional settings. Applications to analyzing resting-state fMRI data identify dynamic changes in brain states during rest, and reveal distinct directed connectivity patterns and modular organization in resting-state networks across different states.Comment: 21 page

The Bose-Hubbard model is QMA-complete

The Bose-Hubbard model is a system of interacting bosons that live on the vertices of a graph. The particles can move between adjacent vertices and experience a repulsive on-site interaction. The Hamiltonian is determined by a choice of graph that specifies the geometry in which the particles move and interact. We prove that approximating the ground energy of the Bose-Hubbard model on a graph at fixed particle number is QMA-complete. In our QMA-hardness proof, we encode the history of an n-qubit computation in the subspace with at most one particle per site (i.e., hard-core bosons). This feature, along with the well-known mapping between hard-core bosons and spin systems, lets us prove a related result for a class of 2-local Hamiltonians defined by graphs that generalizes the XY model. By avoiding the use of perturbation theory in our analysis, we circumvent the need to multiply terms in the Hamiltonian by large coefficients

Covalency and the metal-insulator transition in titanate and vanadate perovskites

A combination of density functional and dynamical mean-field theory is applied to the perovskites SrVO$_3$, LaTiO$_3$ and LaVO$_3$. We show that DFT+DMFT in conjunction with the standard fully localized-limit (FLL) double-counting predicts that LaTiO$_3$ and LaVO$_3$ are metals even though experimentally they are correlation-driven ("Mott") insulators. In addition, the FLL double counting implies a splitting between oxygen $p$ and transition metal $d$ levels which differs from experiment. Introducing into the theory an \textit{ad hoc} double counting correction which reproduces the experimentally measured insulating gap leads also to a $p$-$d$ splitting consistent with experiment if the on-site interaction $U$ is chosen in a relatively narrow range ($\sim 6\pm 1$ eV). The results indicate that these early transition metal oxides will serve as critical test for the formulation of a general \textit{ab initio} theory of correlated electron metals.Comment: 5 pages, 3 figure

Importance of many body effects in the kernel of hemoglobin for ligand binding

We propose a mechanism for binding of diatomic ligands to heme based on a dynamical orbital selection process. This scenario may be described as bonding determined by local valence fluctuations. We support this model using linear-scaling first-principles calculations, in combination with dynamical mean-field theory, applied to heme, the kernel of the hemoglobin metalloprotein central to human respiration. We find that variations in Hund's exchange coupling induce a reduction of the iron 3d density, with a concomitant increase of valence fluctuations. We discuss the comparison between our computed optical absorption spectra and experimental data, our picture accounting for the observation of optical transitions in the infrared regime, and how the Hund's coupling reduces, by a factor of five, the strong imbalance in the binding energies of heme with CO and O_2 ligands.Comment: 5 pages, 4 figures. Supplementary material 12 pages, 5 figures. This version (v2) matches that accepted for Physical Review Letters on 31 January 201