Kerry He

Fabian Finger, Frederic Rapp, Pranav Kalidindi et al.

Designing quantum algorithms is a complex and counterintuitive task, making it an ideal candidate for AI-driven algorithm discovery. To this end, we employ the Hive, an AI platform for program synthesis, which utilises large language models to drive a highly distributed evolutionary process for discovering new algorithms. We focus on the ground state problem in quantum chemistry, and discover efficient quantum heuristic algorithms that solve it for molecules LiH, H2O, and F2 while exhibiting significant reductions in quantum resources relative to state-of-the-art near-term quantum algorithms. Further, we perform an interpretability study on the discovered algorithms and identify the key functions responsible for the efficiency gains. Finally, we benchmark the Hive-discovered circuits on the Quantinuum System Model H2 quantum computer and identify minimum system requirements for chemical precision. We envision that this novel approach to quantum algorithm discovery applies to other domains beyond chemistry, as well as to designing quantum algorithms for fault-tolerant quantum computers.

Kerry He, Rhys Newbury, Tin Tran et al.

Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired goal pose. The approach allows coordinated control between the robot's base, arm and head by encoding the line-of-sight visibility to the target as a soft constraint along with other task-related constraints, and solving for feasible joint and base velocities. The generalizability of the approach is demonstrated in simulated and real-world experiments, on robots with fixed or mobile bases, with moving or fixed objects, and multiple objects. The experiments revealed a trade-off between occlusion rates and other task metrics. While a planning-based baseline achieved lower occlusion rates than the proposed controller, it came at the expense of highly inefficient paths and a significant drop in the task success. On the other hand, the proposed controller is shown to improve visibility to the line target object(s) without sacrificing too much from the task success and efficiency. Videos and code can be found at: rhys-newbury.github.io/projects/vmc/.

Zheyu Zhang, Rhys Newbury, Kerry He et al.

Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the most comprehensive cloud-based robotic manipulation competitions. It focuses on rearranging tabletop objects using vision as its primary sensing modality. In this extended abstract, we present our entry to the OCRTOC2020 and the key challenges the team has experienced.

Rhys Newbury, Kerry He, Akansel Cosgun et al.

We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is opened after the object makes contact with the surface, the object would be stably placed in the upright orientation. We iteratively use two neural networks. At every iteration, we use a convolutional neural network to estimate the required object rotation, which is executed by the robot, and then a separate convolutional neural network to estimate the quality of a placement in its current orientation. Our approach places previously unseen objects in upright orientations with a success rate of 98.1% in free space and 90.3% with a simulated robotic arm, using a dataset of 50 everyday objects in simulation experiments. Real-world experiments were performed, which achieved an 88.0% success rate, which serves as a proof-of-concept for direct sim-to-real transfer.