arXiv subjects

Taewan Kim

Publications and source records attributed to Taewan Kim.

At least 37 records · Page 2Linked to original sources

arXiv2024

Auto-tuned Primal-dual Successive Convexification for Hypersonic Reentry Guidance

This paper presents auto-tuned primal-dual successive convexification (Auto-SCvx), an algorithm designed to reliably achieve dynamically-feasible trajectory solutions for constrained hypersonic reentry optimal control problems across a large mission parameter space. In Auto-SCvx, we solve a sequence of convex subproblems until convergence to a solution of the original nonconvex problem. This method iteratively optimizes dual variables in closed-form in order to update the penalty hyperparameters used in the primal variable updates. A benefit of this method is that it is auto-tuning, and requires no hand-tuning by the user with respect to the constraint penalty weights. Several example hypersonic reentry problems are posed and solved using this method, and comparative studies are conducted against current methods. In these numerical studies, our algorithm demonstrates equal and often improved performance while not requiring hand-tuning of penalty hyperparameters.

math.OC↗

arXiv2024

Quantum superposing algorithm for quantum encoding

Efficient encoding of classical data into quantum state -- currently referred to as quantum encoding -- holds crucial significance in quantum computation. For finite-size databases and qubit registers, a common strategy of the quantum encoding entails establishing a classical mapping that correlates machine-recognizable data addresses with qubit indices that are subsequently superposed. Herein, the most imperative lies in casting an algorithm for generating the superposition of any given number of qubit indices. This algorithm is formally known as quantum superposing algorithm. In this work, we present an efficient quantum superposing algorithm, affirming its effectiveness and superior computational performance in a practical quantum encoding scenario. Our theoretical and numerical analyses demonstrate a substantial enhancement in computational efficiency compared to existing algorithms. Notably, our algorithm has a maximum of 2n-3 controlled-not (CNOT) counts, representing the most optimized result to date.

quant-ph↗

arXiv2024

Relative-Hyper GAGA Theorem

In this paper, we provide a relative hypercohomology version of Serre's GAGA theorem. We prove that the relative hypercohomology of a complex of sheaves on a complex projective variety is isomorphic to the relative hypercohomology of its analytification, with respect to an open or closed subvariety. This result implies Serre's original GAGA theorem.

math.AG↗

arXiv2024

Resource-compact time-optimal quantum computation

Fault-tolerant quantum computation enables reliable quantum computation but incurs a significant overhead from both time and resource perspectives. To reduce computation time, Austin G. Fowler proposed time-optimal quantum computation by constructing a quantum circuit for a fault-tolerant $T$ gate without probabilistic $S$ gate correction. In this work, we introduce a resource-compact quantum circuit that significantly reduces resource requirements by more than 60% for a fault-tolerant $T$ gate without probabilistic $S$ gate correction. Consequently, we present a quantum circuit that minimizes resource utilization for time-optimal quantum computation, demonstrating efficient time-optimal quantum computation. Additionally, we describe an efficient form involving initialization, CNOTs, and measurements, laying the foundation for the development of an efficient compiler for fault-tolerant quantum computation.

quant-ph↗

arXiv2024

Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction

We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational efficiency. We leverage the recently proposed successive convexification framework for trajectory optimization, where: (1) the path constraints and running cost are equivalently reformulated by augmenting the system dynamics, (2) multiple shooting is used for exact discretization, and (3) a convergence-guaranteed sequential convex programming (SCP) algorithm, the prox-linear method, is used to solve the discretized receding-horizon optimal control problems. The resulting NMPC framework is computationally efficient, owing to its support for warm-starting and premature termination of SCP, and its reliance on first-order information only. We demonstrate the effectiveness of the proposed NMPC framework by means of a numerical example with reference-tracking and obstacle avoidance. The implementation is available at https://github.com/UW-ACL/nmpc-ctcs

math.OC↗

arXiv2024

Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction

We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence, that only requires first-order information. The proposed framework combines several key methods to solve a large class of nonlinear optimal control problems: (i) exterior penalty-based reformulation of the path constraints; (ii) generalized time-dilation; (iii) multiple-shooting discretization; (iv) $\ell_1$ exact penalization of the nonconvex constraints; and (v) the prox-linear method, a sequential convex programming (SCP) algorithm for convex-composite minimization. The reformulation of the path constraints enables continuous-time constraint satisfaction even on sparse discretization grids and obviates the need for mesh refinement heuristics. Through the prox-linear method, we guarantee convergence of the solution method to stationary points of the penalized problem and guarantee that the converged solutions that are feasible with respect to the discretized and control-parameterized optimal control problem are also Karush-Kuhn-Tucker (KKT) points. Furthermore, we highlight the specialization of this property to global minimizers of convex optimal control problems, wherein the reformulated path constraints cannot be represented by canonical cones, i.e., in the form required by existing convex optimization solvers. In addition to theoretical analysis, we demonstrate the effectiveness and real-time capability of the proposed framework with numerical examples based on popular optimal control applications: dynamic obstacle avoidance and rocket landing.

math.OC↗

arXiv2024

MindfulDiary: Harnessing Large Language Model to Support Psychiatric Patients' Journaling

In the mental health domain, Large Language Models (LLMs) offer promising new opportunities, though their inherent complexity and low controllability have raised questions about their suitability in clinical settings. We present MindfulDiary, a mobile journaling app incorporating an LLM to help psychiatric patients document daily experiences through conversation. Designed in collaboration with mental health professionals (MHPs), MindfulDiary takes a state-based approach to safely comply with the experts' guidelines while carrying on free-form conversations. Through a four-week field study involving 28 patients with major depressive disorder and five psychiatrists, we found that MindfulDiary supported patients in consistently enriching their daily records and helped psychiatrists better empathize with their patients through an understanding of their thoughts and daily contexts. Drawing on these findings, we discuss the implications of leveraging LLMs in the mental health domain, bridging the technical feasibility and their integration into clinical settings.

cs.HC↗

arXiv2024

Joint Synthesis of Trajectory and Controlled Invariant Funnel for Discrete-time Systems with Locally Lipschitz Nonlinearities

This paper presents a joint synthesis algorithm of trajectory and controlled invariant funnel (CIF) for locally Lipschitz nonlinear systems subject to bounded disturbances. The CIF synthesis refers to a procedure of computing controlled invariance sets and corresponding feedback gains. In contrast to existing CIF synthesis methods that compute the CIF with a pre-defined nominal trajectory, our work aims to optimize the nominal trajectory and the CIF jointly to satisfy feasibility conditions without the relaxation of constraints and obtain a more cost-optimal nominal trajectory. The proposed work has a recursive scheme that mainly optimize trajectory update and funnel update. The trajectory update step optimizes the nominal trajectory while ensuring the feasibility of the CIF. Then, the funnel update step computes the funnel around the nominal trajectory so that the CIF guarantees an invariance property. As a result, with the optimized trajectory and CIF, any resulting trajectory propagated from an initial set by the control law with the computed feedback gain remains within the feasible region around the nominal trajectory under the presence of bounded disturbances. We validate the proposed method via two applications from robotics.

math.OC↗

arXiv2023

Optimization-based Constrained Funnel Synthesis for Systems with Lipschitz Nonlinearities via Numerical Optimal Control

This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with locally Lipschitz nonlinearities and bounded disturbances. The resulting funnel synthesis problem involves a differential linear matrix inequality (DLMI) whose solution satisfies a Lyapunov condition that implies invariance and attractivity properties. Due to these properties, the proposed method can balance maximization of initial invariant funnel size, i.e., size of the funnel entry, and minimization of the size of the attractive funnel for attenuating the effect of disturbance. To solve the resulting funnel synthesis problem with the DLMI as constraints, we employ a numerical optimal control approach that uses a multiple shooting method to convert the problem into a finite dimensional semidefinite programming problem. This framework does not require piecewise linear system matrices and funnel parameters, which is typically assumed in recent related work. We illustrate the proposed funnel synthesis method with a numerical example.

math.OC↗

arXiv2023

WinCLIP: Zero-/Few-Shot Anomaly Classification and Segmentation

Visual anomaly classification and segmentation are vital for automating industrial quality inspection. The focus of prior research in the field has been on training custom models for each quality inspection task, which requires task-specific images and annotation. In this paper we move away from this regime, addressing zero-shot and few-normal-shot anomaly classification and segmentation. Recently CLIP, a vision-language model, has shown revolutionary generality with competitive zero-/few-shot performance in comparison to full-supervision. But CLIP falls short on anomaly classification and segmentation tasks. Hence, we propose window-based CLIP (WinCLIP) with (1) a compositional ensemble on state words and prompt templates and (2) efficient extraction and aggregation of window/patch/image-level features aligned with text. We also propose its few-normal-shot extension WinCLIP+, which uses complementary information from normal images. In MVTec-AD (and VisA), without further tuning, WinCLIP achieves 91.8%/85.1% (78.1%/79.6%) AUROC in zero-shot anomaly classification and segmentation while WinCLIP+ does 93.1%/95.2% (83.8%/96.4%) in 1-normal-shot, surpassing state-of-the-art by large margins.

cs.CV↗

arXiv2022

Particle swarm optimization of a wind farm layout with active control of turbine yaws

Active yaw control (AYC) of wind turbines has been widely applied to increase the annual energy production (AEP) of a wind farm. AYC efficiency depends on the wind direction and the wind farm layout because an AYC method utilizes wake deflection by yawing wind turbines. Conventional optimization of a wind farm layout assumed that the swept areas of all wind turbines are aligned perpendicular to the wind direction, thereby allowing non-optimal utilization of an AYC method. Higher AEP can be obtained by joint optimization which considers an AYC method in the layout design stage. Joint optimization of the farm layout and AYC has been difficult due to the non-convexity of the problem and the computational inefficiency. In the present study, a particle swarm optimization based method is developed for joint optimization. The layout is optimized with simultaneous consideration for yaw angles for all wind velocities to obtain a globally optimal layout. A number of random initial particles consisting of the layout and yaw angles of wind turbines reduce the initial layout dependency on the optimized layout. To deal with the challenge of large-scale optimization, the adaptive granularity learning distributed particle swarm optimization algorithm is implemented. The improvement in AEP when using a jointly optimized layout compared to a conventionally optimized layout in a real wind farm is demonstrated using the present method.

math.OC↗

arXiv2022

Guided Policy Search using Sequential Convex Programming for Initialization of Trajectory Optimization Algorithms

Nonlinear trajectory optimization algorithms have been developed to handle optimal control problems with nonlinear dynamics and nonconvex constraints in trajectory planning. The performance and computational efficiency of many trajectory optimization methods are sensitive to the initial guess, i.e., the trajectory guess needed by the recursive trajectory optimization algorithm. Motivated by this observation, we tackle the initialization problem for trajectory optimization via policy optimization. To optimize a policy, we propose a guided policy search method that has two key components: i) Trajectory update; ii) Policy update. The trajectory update involves offline solutions of a large number of trajectory optimization problems from different initial states via Sequential Convex Programming (SCP). Here we take a single SCP step to generate the trajectory iterate for each problem. In conjunction with these iterates, we also generate additional trajectories around each iterate via a feedback control law. Then all these trajectories are used by a stochastic gradient descent algorithm to update the neural network policy, i.e., the policy update step. As a result, the trained policy makes it possible to generate trajectory candidates that are close to the optimality and feasibility and that provide excellent initial guesses for the trajectory optimization methods. We validate the proposed method via a real-world 6-degree-of-freedom powered descent guidance problem for a reusable rocket.

math.OC↗

arXiv2019

On Single Source Robustness in Deep Fusion Models

Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness against faulty or noisy inputs, which is indispensable for safety-critical applications like self-driving cars. We investigate learning fusion algorithms that are robust against noise added to a single source. We first demonstrate that robustness against single source noise is not guaranteed in a linear fusion model. Motivated by this discovery, two possible approaches are proposed to increase robustness: a carefully designed loss with corresponding training algorithms for deep fusion models, and a simple convolutional fusion layer that has a structural advantage in dealing with noise. Experimental results show that both training algorithms and our fusion layer make a deep fusion-based 3D object detector robust against noise applied to a single source, while preserving the original performance on clean data.

cs.LG↗

arXiv2018

Integrated Analysis of Performance and Resource of Large-Scale Quantum Computing

To see the feasibility of a large-scale quantum computing, it is required to accurately analyze the performance and the quantum resource. However, most of the analysis reported so far have focused on the statistical examination, i.e., simply calculating the performance and resource based on individual data, and even worse usually only a few components have been considered. In this work, to achieve more exact analysis, we propose an integrated analysis method for a practical quantum computing model with three components (\textit{algorithm}, \textit{error correction} and \textit{device}) under a realistic quantum computer system architecture. To implement the above method, we develop a quantum computing framework composed of three functional layers: compile, system and building block. This framework can support, for the first time, the mapping of quantum algorithm from physical qubit level to system architecture level with a given fault-tolerant scheme. Therefore, the proposed method can measure the effect of dynamic situation when the quantum computer practically runs. By using our method, we found that Shor algorithm to factorize 512-bit integer requires $8.78\times 10^ 5$ hours. We also show how the proposed method can be used for analyzing optimal concatenation level and code distance of fault-tolerant quantum computing.

quant-ph↗

arXiv2017

Relaxed Oracles for Semi-Supervised Clustering

Pairwise "same-cluster" queries are one of the most widely used forms of supervision in semi-supervised clustering. However, it is impractical to ask human oracles to answer every query correctly. In this paper, we study the influence of allowing "not-sure" answers from a weak oracle and propose an effective algorithm to handle such uncertainties in query responses. Two realistic weak oracle models are considered where ambiguity in answering depends on the distance between two points. We show that a small query complexity is adequate for effective clustering with high probability by providing better pairs to the weak oracle. Experimental results on synthetic and real data show the effectiveness of our approach in overcoming supervision uncertainties and yielding high quality clusters.

stat.ML↗

arXiv2017

Semi-Supervised Active Clustering with Weak Oracles

Semi-supervised active clustering (SSAC) utilizes the knowledge of a domain expert to cluster data points by interactively making pairwise "same-cluster" queries. However, it is impractical to ask human oracles to answer every pairwise query. In this paper, we study the influence of allowing "not-sure" answers from a weak oracle and propose algorithms to efficiently handle uncertainties. Different types of model assumptions are analyzed to cover realistic scenarios of oracle abstraction. In the first model, random-weak oracle, an oracle randomly abstains with a certain probability. We also proposed two distance-weak oracle models which simulate the case of getting confused based on the distance between two points in a pairwise query. For each weak oracle model, we show that a small query complexity is adequate for the effective $k$ means clustering with high probability. Sufficient conditions for the guarantee include a $γ$-margin property of the data, and an existence of a point close to each cluster center. Furthermore, we provide a sample complexity with a reduced effect of the cluster's margin and only a logarithmic dependency on the data dimension. Our results allow significantly less number of same-cluster queries if the margin of the clusters is tight, i.e. $γ\approx 1$. Experimental results on synthetic data show the effective performance of our approach in overcoming uncertainties.

stat.ML↗

arXiv2017

Forgeable quantum messages in arbitrated quantum signature schemes

Recently, the concept on `forgeable quantum messages' in arbitrated quantum signature schemes was introduced by T. Kim et al. [Phys. Scr., 90, 025101 (2015)], and it has been shown that there always exists such a forgeable quantum message for every known arbitrated quantum signature scheme with four quantum encryption operators and the specific two rotation operators. We first extend the result to the case of any two unitary rotation operators, and then consider the forgeable quantum messages in the schemes with four quantum encryption operators and three or more rotation operators. We here present a necessary and sufficient condition for existence of a forgeable quantum message, and moreover, by employing the condition, show that there exists an arbitrated quantum signature scheme which contains no forgeable quantum message-signature pairs.

quant-ph↗

arXiv2017

Visual Fashion-Product Search at SK Planet

We build a large-scale visual search system which finds similar product images given a fashion item. Defining similarity among arbitrary fashion-products is still remains a challenging problem, even there is no exact ground-truth. To resolve this problem, we define more than 90 fashion-related attributes, and combination of these attributes can represent thousands of unique fashion-styles. The fashion-attributes are one of the ingredients to define semantic similarity among fashion-product images. To build our system at scale, these fashion-attributes are again used to build an inverted indexing scheme. In addition to these fashion-attributes for semantic similarity, we extract colour and appearance features in a region-of-interest (ROI) of a fashion item for visual similarity. By sharing our approach, we expect active discussion on that how to apply current computer vision research into the e-commerce industry.

cs.CV↗