arXiv subjects

Dominik Mattern

Publications and source records attributed to Dominik Mattern.

3 recordsLinked to original sources

arXiv2026

Enhancing Variational Quantum Eigensolvers for SU(2) Lattice Gauge Theory via Systematic State Preparation

Computing the vacuum and energy spectrum in non-Abelian, interacting lattice gauge theories remains an open challenge, in part because approximating the continuum limit requires large lattices and huge Hilbert spaces. To address this difficulty with near-term quantum computing devices, we adapt the variational quantum eigensolver to non-Abelian gauge theories. We outline scaling advantages when using a spin-network basis to simulate the gauge-invariant Hilbert space and develop a systematic state preparation ansatz that creates gauge-invariant excitations while alleviating the barren plateau problem. We illustrate our method in the context of SU(2) Yang-Mills theory by testing it on a minimal toy model consisting of a single vertex in 3+1 dimensions. In this toy model, simulations allow us to investigate the impact of noise expected in current quantum devices.

quant-ph↗

arXiv2025

\LARGE GMP$^{3}$: Learning-Driven, Bellman-Guided Trajectory Planning for UAVs in Real-Time on SE(3)

We propose $\text{GMP}^{3}$, a multiphase global path planning framework that generates dynamically feasible three-dimensional trajectories for unmanned aerial vehicles (UAVs) operating in cluttered environments. The framework extends traditional path planning from Euclidean position spaces to the Lie group $\mathrm{SE}(3)$, allowing joint learning of translational motion and rotational dynamics. A modified Bellman-based operator is introduced to support reinforcement learning (RL) policy updates while leveraging prior trajectory information for improved convergence. $\text{GMP}^{3}$ is designed as a distributed framework in which agents influence each other and share policy information along the trajectory: each agent refines its assigned segment and shares with its neighbors via a consensus-based scheme, enabling cooperative policy updates and convergence toward a path shaped globally even under kinematic constraints. We also propose DroneManager, a modular ground control software that interfaces the planner with real UAV platforms via the MAVLink protocol, supporting real-time deployment and feedback. Simulation studies and indoor flight experiments validate the effectiveness of the proposed method in constrained 3D environments, demonstrating reliable obstacle avoidance and smooth, feasible trajectories across both position and orientation. The open-source implementation is available at https://github.com/Domattee/DroneManager

cs.RO↗

arXiv2023

MIMo: A Multi-Modal Infant Model for Studying Cognitive Development

Human intelligence and human consciousness emerge gradually during the process of cognitive development. Understanding this development is an essential aspect of understanding the human mind and may facilitate the construction of artificial minds with similar properties. Importantly, human cognitive development relies on embodied interactions with the physical and social environment, which is perceived via complementary sensory modalities. These interactions allow the developing mind to probe the causal structure of the world. This is in stark contrast to common machine learning approaches, e.g., for large language models, which are merely passively ``digesting'' large amounts of training data, but are not in control of their sensory inputs. However, computational modeling of the kind of self-determined embodied interactions that lead to human intelligence and consciousness is a formidable challenge. Here we present MIMo, an open-source multi-modal infant model for studying early cognitive development through computer simulations. MIMo's body is modeled after an 18-month-old child with detailed five-fingered hands. MIMo perceives its surroundings via binocular vision, a vestibular system, proprioception, and touch perception through a full-body virtual skin, while two different actuation models allow control of his body. We describe the design and interfaces of MIMo and provide examples illustrating its use. All code is available at https://github.com/trieschlab/MIMo .

cs.AI↗