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Youngseok Kim

Publications and source records attributed to Youngseok Kim.

At least 19 recordsLinked to original sources

Observable Estimation in the Absence of Classical Verification

The predictive success of quantum mechanics underpins many areas of modern science, even as the exact simulation of large, interacting quantum systems remains beyond the reach of classical computation. This success has been enabled by the remarkable advancement of scalable numerical approximation methods, which often demonstrate practical accuracy despite the absence of formal guarantees. As quantum simulation pushes into regimes where these approximations struggle, a fundamental challenge arises: How can quantum outcomes be trusted when reliable classical benchmarks are unavailable? Here, we establish a framework for the independent validation of quantum estimates in this setting and present evidence that they provide the most credible result among several considered methods, in the absence of an immediately accessible ground-truth solution. We apply our framework to the semi-scrambling dynamics of a physical model that strains several leading classical simulation methods yet remains experimentally accessible, in part through our introduction of the \textit{operator Loschmidt echo}. We systematically design a series of experiments using quantum heuristics that, taken together, test the underlying assumptions and provide strong confidence in the observable estimates obtained from the quantum computer. We then show how this framework can be extended to place accuracy bounds on quantum estimates via careful characterization and manipulation of the device noise, transforming the problem of validating the observable estimation to validating the noise model. These results establish a route towards trusted quantum computation for scientific discovery, independent of classical verification.

quant-ph

Constant-Depth Multi-Product Formula for Trotter Error Mitigation in Near-Term Digital Quantum Simulation

Digital quantum simulation of many-body dynamics faces a tension between algorithmic Trotter error and physical noise that accumulates with circuit depth. Typical higher-order product formulas mitigate the algorithmic error at the cost of deeper circuits. Our benchmark shows that, within the limited physical error budget, the feasible advantage is confined to absolute errors well below the $10^{-2}$ scale, which vanishes under noise levels of current quantum hardware. In sharp contrast to the previous Trotter error mitigation methods, we introduce a constant-depth multi-product formula (cd-MPF) that suppresses the Trotter error by combining multiple circuits at fixed circuit depth. We identify an auxiliary parameter $\alpha$, which reshapes the Trotter error terms while leaving the target evolution invariant. The classical linear combination of the measured expectation values cancels the leading $(\Delta t)^{2}$ algorithmic contribution and steepens the Trotter-error scaling with the two-qubit circuit depth $d$ from $d^{-2}$ to $d^{-4}$. Combined with physical-noise mitigation, our method can serve as a key ingredient for realizing long-time quantum dynamics simulation on near-term hardware.

quant-ph

ConcreTizer: Model Inversion Attack via Occupancy Classification and Dispersion Control for 3D Point Cloud Restoration

The growing use of 3D point cloud data in autonomous vehicles (AVs) has raised serious privacy concerns, particularly due to the sensitive information that can be extracted from 3D data. While model inversion attacks have been widely studied in the context of 2D data, their application to 3D point clouds remains largely unexplored. To fill this gap, we present the first in-depth study of model inversion attacks aimed at restoring 3D point cloud scenes. Our analysis reveals the unique challenges, the inherent sparsity of 3D point clouds and the ambiguity between empty and non-empty voxels after voxelization, which are further exacerbated by the dispersion of non-empty voxels across feature extractor layers. To address these challenges, we introduce ConcreTizer, a simple yet effective model inversion attack designed specifically for voxel-based 3D point cloud data. ConcreTizer incorporates Voxel Occupancy Classification to distinguish between empty and non-empty voxels and Dispersion-Controlled Supervision to mitigate non-empty voxel dispersion. Extensive experiments on widely used 3D feature extractors and benchmark datasets, such as KITTI and Waymo, demonstrate that ConcreTizer concretely restores the original 3D point cloud scene from disrupted 3D feature data. Our findings highlight both the vulnerability of 3D data to inversion attacks and the urgent need for robust defense strategies.

cs.CV

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

cs.RO

CRAB: Camera-Radar Fusion for Reducing Depth Ambiguity in Backward Projection based View Transformation

Recently, camera-radar fusion-based 3D object detection methods in bird's eye view (BEV) have gained attention due to the complementary characteristics and cost-effectiveness of these sensors. Previous approaches using forward projection struggle with sparse BEV feature generation, while those employing backward projection overlook depth ambiguity, leading to false positives. In this paper, to address the aforementioned limitations, we propose a novel camera-radar fusion-based 3D object detection and segmentation model named CRAB (Camera-Radar fusion for reducing depth Ambiguity in Backward projection-based view transformation), using a backward projection that leverages radar to mitigate depth ambiguity. During the view transformation, CRAB aggregates perspective view image context features into BEV queries. It improves depth distinction among queries along the same ray by combining the dense but unreliable depth distribution from images with the sparse yet precise depth information from radar occupancy. We further introduce spatial cross-attention with a feature map containing radar context information to enhance the comprehension of the 3D scene. When evaluated on the nuScenes open dataset, our proposed approach achieves a state-of-the-art performance among backward projection-based camera-radar fusion methods with 62.4\% NDS and 54.0\% mAP in 3D object detection.

cs.CV

Disambiguating Pauli noise in quantum computers

To successfully perform quantum computations, it is often necessary to first accurately characterize the noise in the underlying hardware. However, it is well known that fundamental limitations prevent the unique identification of the noise. This raises the question of whether these limitations impact the ability to predict noisy dynamics and mitigate errors. Here, we show, both theoretically and experimentally, that when learnable parameters are self-consistently characterized, the unlearnable (gauge) degrees of freedom do not impact predictions of noisy dynamics or error mitigation. We use the recently introduced framework of gate set Pauli noise learning to efficiently and self-consistently characterize and mitigate noise of a complete gate set, including state preparation, measurements, single-qubit gates and multi-qubit entangling Clifford gates. We validate our approach through experiments with up to 92 qubits and show that while the gauge choice does not affect error-mitigated observable values, optimizing it reduces sampling overhead. Our findings address an outstanding issue involving the ambiguities in characterizing and mitigating quantum noise.

quant-ph

Error mitigation with stabilized noise in superconducting quantum processors

Pre-fault tolerant quantum computers have already demonstrated the ability to estimate observable values accurately, at a scale beyond brute-force classical computation. This has been enabled by error mitigation techniques that often rely on a representative model on the device noise. However, learning and maintaining these models is complicated by fluctuations in the noise over unpredictable time scales, for instance, arising from resonant interactions between superconducting qubits and defect two-level systems (TLS). Such interactions affect the stability and uniformity of device performance as a whole, but also affect the noise model accuracy, leading to incorrect observable estimation. Here, we experimentally demonstrate that tuning of the qubit-TLS interactions helps reduce noise instabilities and consequently enables more reliable error-mitigation performance. These experiments provide a controlled platform for studying the performance of error mitigation in the presence of quasi-static noise. We anticipate that the capabilities introduced here will be crucial for the exploration of quantum applications on solid-state processors at non-trivial scales.

quant-ph

Trotter error mitigation by error profiling with shallow quantum circuit

Understanding the dynamics of quantum systems is crucial in many areas of physics, but simulating many-body systems presents significant challenges due to the large Hilbert space to navigate and the exponential growth of computational overhead. Quantum computers offer a promising platform to overcome these challenges, particularly for simulating the time evolution with Hamiltonians. Trotterization is a widely used approach among available algorithms in this regard, and well suited for near-term quantum devices. However, it introduces algorithmic Trotter errors due to the non-commutativity of Hamiltonian components. Several techniques such as multi-product formulas have been developed to mitigate Trotter errors, but often require deep quantum circuits, which can introduce additional physical errors. In this work, we propose a resource-efficient scheme to reduce the algorithmic Trotter error with relatively shallow circuit depth. We develop a profiling method by introducing an auxiliary parameter to estimate the error effects in expectation values, enabling significant error suppression with a fixed number of Trotter steps. Our approach offers an efficient way of quantum simulation on near-term quantum processors with shallow circuits.

quant-ph

Improved Quantum Computation using Operator Backpropagation

Decoherence of quantum hardware is currently limiting its practical applications. At the same time, classical algorithms for simulating quantum circuits have progressed substantially. Here, we demonstrate a hybrid framework that integrates classical simulations with quantum hardware to improve the computation of an observable's expectation value by reducing the quantum circuit depth. In this framework, a quantum circuit is partitioned into two subcircuits: one that describes the backpropagated Heisenberg evolution of an observable, executed on a classical computer, while the other is a Schrödinger evolution run on quantum processors. The overall effect is to reduce the depths of the circuits executed on quantum devices, trading this with classical overhead and an increased number of circuit executions. We demonstrate the effectiveness of this method on a Hamiltonian simulation problem, achieving more accurate expectation value estimates compared to using quantum hardware alone.

quant-ph

Dynamical simulations of many-body quantum chaos on a quantum computer

Quantum circuits with local unitaries have emerged as a rich playground for the exploration of many-body quantum dynamics of discrete-time systems. While the intrinsic locality makes them particularly suited to run on current quantum processors, the task of verification at non-trivial scales is complicated for non-integrable systems. Here, we study a special class of maximally chaotic circuits known as dual unitary circuits -- exhibiting unitarity in both space and time -- that are known to have exact analytical solutions for certain correlation functions. With advances in noise learning and the implementation of novel error mitigation methods, we show that a superconducting quantum processor with 91 qubits is able to accurately simulate these correlators. We then probe dynamics beyond exact verification, by perturbing the circuits away from the dual unitary point, and compare our results to classical approximations with tensor networks. These results cement error-mitigated digital quantum simulation on pre-fault-tolerant quantum processors as a trustworthy platform for the exploration and discovery of novel emergent quantum many-body phases.

quant-ph

LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detection

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However, existing cross-modal knowledge distillation methods tend to overlook the inherent imperfections of LiDAR, such as the ambiguity of measurements on distant or occluded objects, which should not be transferred to the image detector. To mitigate these imperfections in LiDAR teacher, we propose a novel method that leverages aleatoric uncertainty-free features from ground truth labels. In contrast to conventional label guidance approaches, we approximate the inverse function of the teacher's head to effectively embed label inputs into feature space. This approach provides additional accurate guidance alongside LiDAR teacher, thereby boosting the performance of the image detector. Additionally, we introduce feature partitioning, which effectively transfers knowledge from the teacher modality while preserving the distinctive features of the student, thereby maximizing the potential of both modalities. Experimental results demonstrate that our approach improves mAP and NDS by 5.1 points and 4.9 points compared to the baseline model, proving the effectiveness of our approach. The code is available at https://github.com/sanmin0312/LabelDistill

cs.CV

A flexible empirical Bayes approach to multiple linear regression and connections with penalized regression

We introduce a new empirical Bayes approach for large-scale multiple linear regression. Our approach combines two key ideas: (i) the use of flexible "adaptive shrinkage" priors, which approximate the nonparametric family of scale mixture of normal distributions by a finite mixture of normal distributions; and (ii) the use of variational approximations to efficiently estimate prior hyperparameters and compute approximate posteriors. Combining these two ideas results in fast and flexible methods, with computational speed comparable to fast penalized regression methods such as the Lasso, and with competitive prediction accuracy across a wide range of scenarios. Further, we provide new results that establish conceptual connections between our empirical Bayes methods and penalized methods. Specifically, we show that the posterior mean from our method solves a penalized regression problem, with the form of the penalty function being learned from the data by directly solving an optimization problem (rather than being tuned by cross-validation). Our methods are implemented in an R package, mr.ash.alpha, available from https://github.com/stephenslab/mr.ash.alpha.

stat.ME

Align-to-Distill: Trainable Attention Alignment for Knowledge Distillation in Neural Machine Translation

The advent of scalable deep models and large datasets has improved the performance of Neural Machine Translation. Knowledge Distillation (KD) enhances efficiency by transferring knowledge from a teacher model to a more compact student model. However, KD approaches to Transformer architecture often rely on heuristics, particularly when deciding which teacher layers to distill from. In this paper, we introduce the 'Align-to-Distill' (A2D) strategy, designed to address the feature mapping problem by adaptively aligning student attention heads with their teacher counterparts during training. The Attention Alignment Module in A2D performs a dense head-by-head comparison between student and teacher attention heads across layers, turning the combinatorial mapping heuristics into a learning problem. Our experiments show the efficacy of A2D, demonstrating gains of up to +3.61 and +0.63 BLEU points for WMT-2022 De->Dsb and WMT-2014 En->De, respectively, compared to Transformer baselines.

cs.CL

CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perception

Autonomous driving requires an accurate and fast 3D perception system that includes 3D object detection, tracking, and segmentation. Although recent low-cost camera-based approaches have shown promising results, they are susceptible to poor illumination or bad weather conditions and have a large localization error. Hence, fusing camera with low-cost radar, which provides precise long-range measurement and operates reliably in all environments, is promising but has not yet been thoroughly investigated. In this paper, we propose Camera Radar Net (CRN), a novel camera-radar fusion framework that generates a semantically rich and spatially accurate bird's-eye-view (BEV) feature map for various tasks. To overcome the lack of spatial information in an image, we transform perspective view image features to BEV with the help of sparse but accurate radar points. We further aggregate image and radar feature maps in BEV using multi-modal deformable attention designed to tackle the spatial misalignment between inputs. CRN with real-time setting operates at 20 FPS while achieving comparable performance to LiDAR detectors on nuScenes, and even outperforms at a far distance on 100m setting. Moreover, CRN with offline setting yields 62.4% NDS, 57.5% mAP on nuScenes test set and ranks first among all camera and camera-radar 3D object detectors.

cs.CV

Floquet Chiral Quantum Walk in Quantum Computer

Chiral edge states in quantum Hall effect are the paradigmatic example of the quasi-particle with chirality. In even space-time dimensions, the Nielsen-Ninomiya theorem strictly forbids the chiral states in physical isolation. The exceptions to this theorem only occur in the presence of non-locality, non-Hermiticity, or by embedding the system at the boundary of the higher-dimensional bulk. In this work, using the IBM quantum computer platform, we realize the floquet chiral quantum walk enabled by non-locality. The unitary time evolution operator is described by the effective floquet Hamiltonian with infinitely long-ranged coupling. We find that the chiral wave packets lack the common features of the conventional wave phenomena such as Anderson localization. The absence of localization is witnessed by the robustness against the external perturbations. However, the intrinsic quantum errors of the current quantum device give rise to the finite lifetime where the chiral wave packet eventually disperses in the long-time limit. Nevertheless, we observe the stability of the chiral wave by comparing it with the conventional non-chiral model.

quant-ph

Predict to Detect: Prediction-guided 3D Object Detection using Sequential Images

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance, prior works rely on naive fusion methods (e.g., concatenation) or are limited to static scenes (e.g., temporal stereo), neglecting the importance of the motion cue of objects. These approaches do not fully exploit the potential of sequential images and show limited performance improvements. To address this limitation, we propose a novel 3D object detection model, P2D (Predict to Detect), that integrates a prediction scheme into a detection framework to explicitly extract and leverage motion features. P2D predicts object information in the current frame using solely past frames to learn temporal motion features. We then introduce a novel temporal feature aggregation method that attentively exploits Bird's-Eye-View (BEV) features based on predicted object information, resulting in accurate 3D object detection. Experimental results demonstrate that P2D improves mAP and NDS by 3.0% and 3.7% compared to the sequential image-based baseline, illustrating that incorporating a prediction scheme can significantly improve detection accuracy.

cs.CV

Stochastic Scale Invariant Power Iteration for KL-divergence Nonnegative Matrix Factorization

We introduce a mini-batch stochastic variance-reduced algorithm to solve finite-sum scale invariant problems which cover several examples in machine learning and statistics such as principal component analysis (PCA) and estimation of mixture proportions. The algorithm is a stochastic generalization of scale invariant power iteration, specializing to power iteration when full-batch is used for the PCA problem. In convergence analysis, we show the expectation of the optimality gap decreases at a linear rate under some conditions on the step size, epoch length, batch size and initial iterate. Numerical experiments on the non-negative factorization problem with the Kullback-Leibler divergence using real and synthetic datasets demonstrate that the proposed stochastic approach not only converges faster than state-of-the-art deterministic algorithms but also produces excellent quality robust solutions.

math.OC

UpCycling: Semi-supervised 3D Object Detection without Sharing Raw-level Unlabeled Scenes

Semi-supervised Learning (SSL) has received increasing attention in autonomous driving to reduce the enormous burden of 3D annotation. In this paper, we propose UpCycling, a novel SSL framework for 3D object detection with zero additional raw-level point cloud: learning from unlabeled de-identified intermediate features (i.e., smashed data) to preserve privacy. Since these intermediate features are naturally produced by the inference pipeline, no additional computation is required on autonomous vehicles. However, generating effective consistency loss for unlabeled feature-level scene turns out to be a critical challenge. The latest SSL frameworks for 3D object detection that enforce consistency regularization between different augmentations of an unlabeled raw-point scene become detrimental when applied to intermediate features. To solve the problem, we introduce a novel combination of hybrid pseudo labels and feature-level Ground Truth sampling (F-GT), which safely augments unlabeled multi-type 3D scene features and provides high-quality supervision. We implement UpCycling on two representative 3D object detection models: SECOND-IoU and PV-RCNN. Experiments on widely-used datasets (Waymo, KITTI, and Lyft) verify that UpCycling outperforms other augmentation methods applied at the feature level. In addition, while preserving privacy, UpCycling performs better or comparably to the state-of-the-art methods that utilize raw-level unlabeled data in both domain adaptation and partial-label scenarios.

cs.CV