Development of asymmetric supercapacitors with titanium carbide-reduced graphene oxide couples as electrodes


A mixed-solvent strategy for efficient exfoliation of inorganic graphene analogues.

Abstract: Layered two-dimensional (2D) nanomaterials such as graphene are a conceptually new class of materials that offers new access to low-dimensional physics. Besides wellknown graphene, inorganic graphene analogues (IGAs) such as layered transition metal dichalcogenides (e.g., MoS2 and WS2) [5–7] and boron nitride (BN) have been attracting rapidly increasing attention in the past few years. These IGAs were expected to exhibit unique properties and have great potential in applications like transistors, energy storage, thermal conductors, and topological insulators. Moreover, IGAs like MoS2 and WS2 have intrinsic band gap and high mobility, and may even compete with graphene in certain fields. However, investigations on IGAs have been significantly hindered by the practical difficulties in the preparation and assembly of these 2D nanomaterials. Only a few approaches to obtain few-layered IGAs have been reported. Mechanical exfoliation was first used to obtain layered IGAs from their bulk materials. Other approaches that are being explored include chemical synthesis and liquid exfoliation. Coleman et al. recently reported a surfactant-free liquid-exfoliation method which can produce few-layered nanosheets of IGAs dispersed in various organic solvents. Thermodynamic analysis suggested that, because of the high surface energy of IGAs, the best solvents are likely to have high boiling points. Using nonvolatile solvents makes it difficult to process IGAs into devices, due to the difficulties in the removal of solvent and the occurrence of aggregation during the slow solvent evaporation. To date, liquid exfoliation of layered MoS2 and WS2 in volatile solvent has met with very limited success. Herein we demonstrate a versatile and scaleable mixedsolvent strategy for liquid exfoliation of IGAs, including WS2, MoS2, and BN, in volatile solvents. By choosing solvents with appropriate composition, highly stable IGA suspensions can be obtained in low-boiling solvent mixtures, which can then be easily used in further applications. The dispersion of nanomaterials in liquids can be partially predicted by the theory of Hansen solubility parameters (HSP), which is a semi-empirical correlation developed to explain dissolution behavior. Three HSP parameters are used to describe the character of a solvent or material: dD, dP, and dH, which are the dispersive, polar, and hydrogen-bonding solubility parameters, respectively. The dissolution process is one of adaptation between the HSP parameters of solvents and solutes. The HSP distance Ra is used to evaluate the level of adaptation [Eq. (1)].


Synthesis of Two‐Dimensional Materials for Capacitive Energy Storage


SnO₂-based nanomaterials: synthesis and application in lithium-ion batteries.


25th Anniversary Article: Hybrid Nanostructures Based on Two‐Dimensional Nanomaterials


Purity of graphene oxide determines its antibacterial activity

Abstract: Nanomaterials based on two-dimensional (2D) atomic crystals are considered to be very promising for various life-science and medical applications, from drug delivery to tissue modification. One of the most suitable materials for these purposes is graphene oxide (GO), thanks to a well-developed methods of production and water solubility. At the same time, its biological effect is still debated. Here we demonstrate that highly purified and thoroughly washed GO neither inhibited nor stimulated the growth of E.coli, ATCC25922; E.coli NCIMB11943 and S.aureus ATCC25923 at concentrations of up to 1 mg ml−1. Moreover, transmission electron microscopy (TEM) of GO exposed bacteria did not reveal any differences between GO exposed and not exposed populations. In contrast, a suspension of insufficiently purified GO behaved as an antibacterial material due to the presence of soluble acidic impurities, that could be removed by extended purification or neutralisation by alkaline substrates. A standardised protocol is proposed for the generation of clean GO, so it becomes suitable for biological experiments. Our findings emphasise the importance of GO purification status when dealing with biological systems as the true effect of material can be masked by the impact of impurities.


From two-dimensional materials to their heterostructures: An electrochemist's perspective

Abstract: Abstract Two-dimensional (2D) materials have, within just one decade, reshaped many disciplines of modern science and technology, both through intensive fundamental research and early commercial applications. In this review, we will provide a comprehensive summary of the properties, synthesis, characterisation, and application of 2D materials in the context of electrochemistry and related scientific fields. Firstly, the structural, electronic, optical, and mechanical properties, and a variety of preparation and characterisation techniques of 2D materials are presented. Secondly, current electrochemical understanding of 2D and layered materials and their modification is discussed. Lastly, future perspectives and new frontiers in optoelectronics, photocatalysis, and renewable energy using 2D materials are outlined. Our primary focus is on group 6 transition metal dichalcogenides (TMDCs) and other emerging 2D materials beyond graphene, including their heterostructures. These nanomaterials are essential for the next generation of devices in tuneable electrochemistry, sensing, and photovoltaics. Although broad in scope, this review is not an exhaustive list of facts; rather, it summarises the established knowledge and pinpoints the most promising future trends. It is aimed at readers with background in electrochemistry wanting to broaden their perspective or initiate research on 2D materials as well as those with 2D materials expertise looking to work on electrochemistry-based applications, such as energy storage and conversion.


Tuning the Electrochemical Reactivity of Boron‐ and Nitrogen‐Substituted Graphene


Layer-by-Layer Assembly for Graphene-Based Multilayer Nanocomposites: Synthesis and Applications


Nitrogen‐Doped Holey Graphitic Carbon from 2D Covalent Organic Polymers for Oxygen Reduction


Quantum Computing for Automotive Applications: From Algorithms to Applications

Abstract: Quantum computing could impact various industries, with the automotive industry with many computational challenges, from optimizing supply chains and manufacturing to vehicle engineering, being particularly promising. This chapter investigates state-of-the-art quantum algorithms to enhance efficiency, accuracy, and scalability across the automotive value chain. We explore recent advances in quantum optimization, machine learning, and numerical and chemistry simulations, highlighting their potential and limitations. We identify and discuss key challenges in near-term and fault-tolerant algorithms and their practical use in industrial applications. While quantum algorithms show potential in many application domains, current noisy intermediate-scale quantum hardware limits scale and, thus, business benefits. In the long term, fault-tolerant systems promise theoretical speedups; however, they also require further progress in hardware and software (e.g., related to error correction and data loading). We expect that with this progress, significant practical benefits will emerge eventually.


Quantum Computing for Power Flow Algorithms: Testing on real Quantum Computers

Abstract: Quantum computing has the potential to solve many computational problems exponentially faster than classical computers. The high shares of renewables and the wide deployment of converter-interfaced resources require new tools that shall drastically accelerate power system computations, including optimization and security assessment, which can benefit from quantum computing. To the best of our knowledge, this is the first paper that goes beyond quantum computing simulations and performs an experimental application of Quantum Computing for power systems on a real quantum computer. We use five different quantum computers, apply the HHL quantum algorithm, and examine the impact of current noisy quantum hardware on the accuracy and speed of an AC power flow algorithm. We perform the same studies on a 3-bus and a 5-bus system with real quantum computers to identify challenges and open research questions related with the scalability of these algorithms.


QOPTLib: a Quantum Computing Oriented Benchmark for Combinatorial Optimization Problems

Abstract: In this paper, we propose a quantum computing oriented benchmark for combinatorial optimization. This benchmark, coined as QOPTLib, is composed of 40 instances equally distributed over four well-known problems: Traveling Salesman Problem, Vehicle Routing Problem, one-dimensional Bin Packing Problem and the Maximum Cut Problem. The sizes of the instances in QOPTLib not only correspond to computationally addressable sizes, but also to the maximum length approachable with non-zero likelihood of getting a good result. In this regard, it is important to highlight that hybrid approaches are also taken into consideration. Thus, this benchmark constitutes the first effort to provide users a general-purpose dataset. Also in this paper, we introduce a first full solving of QOPTLib using two solvers based on quantum annealing. Our main intention with this is to establish a preliminary baseline, hoping to inspire other researchers to beat these outcomes with newly proposed quantum-based algorithms.


Quantum Computing-Enhanced Algorithm Unveils Novel Inhibitors for KRAS

Abstract: The discovery of small molecules with therapeutic potential is a long-standing challenge in chemistry and biology. Researchers have increasingly leveraged novel computational techniques to streamline the drug development process to increase hit rates and reduce the costs associated with bringing a drug to market. To this end, we introduce a quantum-classical generative model that seamlessly integrates the computational power of quantum algorithms trained on a 16-qubit IBM quantum computer with the established reliability of classical methods for designing small molecules. Our hybrid generative model was applied to designing new KRAS inhibitors, a crucial target in cancer therapy. We synthesized 15 promising molecules during our investigation and subjected them to experimental testing to assess their ability to engage with the target. Notably, among these candidates, two molecules, ISM061-018-2 and ISM061-22, each featuring unique scaffolds, stood out by demonstrating effective engagement with KRAS. ISM061-018-2 was identified as a broad-spectrum KRAS inhibitor, exhibiting a binding affinity to KRAS-G12D at $1.4 \mu M$. Concurrently, ISM061-22 exhibited specific mutant selectivity, displaying heightened activity against KRAS G12R and Q61H mutants. To our knowledge, this work shows for the first time the use of a quantum-generative model to yield experimentally confirmed biological hits, showcasing the practical potential of quantum-assisted drug discovery to produce viable therapeutics. Moreover, our findings reveal that the efficacy of distribution learning correlates with the number of qubits utilized, underlining the scalability potential of quantum computing resources. Overall, we anticipate our results to be a stepping stone towards developing more advanced quantum generative models in drug discovery.


5 Year Update to the Next Steps in Quantum Computing

Abstract: It has been 5 years since the Computing Community Consortium (CCC) Workshop on Next Steps in Quantum Computing, and significant progress has been made in closing the gap between useful quantum algorithms and quantum hardware. Yet much remains to be done, in particular in terms of mitigating errors and moving towards error-corrected machines. As we begin to transition from the Noisy-Intermediate Scale Quantum (NISQ) era to a future of fault-tolerant machines, now is an opportune time to reflect on how to apply what we have learned thus far and what research needs to be done to realize computational advantage with quantum machines.


A Scalable FPGA Architecture for Quantum Computing Simulation

Abstract: A quantum computing simulation provides the opportunity to explore the behaviors of quantum circuits, study the properties of quantum gates, and develop quantum computing algorithms. Simulating quantum circuits requires geometric time and space complexities, impacting the size of the quantum circuit that can be simulated as well as the respective time required to simulate a particular circuit. Applying the parallelism inherent in the simulation and crafting custom architectures, larger quantum circuits can be simulated. A scalable accelerator architecture is proposed to provide a high performance, highly parallel, accelerator. Among the challenges of creating a scalable architecture is managing parallelism, efficiently routing quantum state components for gate evaluation, and measurement. An example is demonstrated on an Intel Agilex field programmable gate array (FPGA).


Quantum Computing for Databases: Overview and Challenges

Abstract: In the decades, the general field of quantum computing has experienced remarkable progress since its inception. A plethora of researchers not only proposed quantum algorithms showing the power of quantum computing but also constructed the prototype of quantum computers, making it walk into our tangible reality. Those remarkable advancements in quantum computing have opened doors for novel applications, one of which is quantum databases. Researchers are trying to use a paradigm brought by quantum computing to revolutionize various aspects of database management systems. In this paper, we envision the synergy between quantum computing and databases with two perspectives: Quantum computing-enabled technology, and quantum computing-inspired technology. Based on this classification, we present a detailed overview of the research attained in this area, aiming to show the landscape of the field and draw a road map of future directions.


Generative AI-enabled Quantum Computing Networks and Intelligent Resource Allocation

Abstract: Quantum computing networks enable scalable collaboration and secure information exchange among multiple classical and quantum computing nodes while executing large-scale generative AI computation tasks and advanced quantum algorithms. Quantum computing networks overcome limitations such as the number of qubits and coherence time of entangled pairs and offer advantages for generative AI infrastructure, including enhanced noise reduction through distributed processing and improved scalability by connecting multiple quantum devices. However, efficient resource allocation in quantum computing networks is a critical challenge due to factors including qubit variability and network complexity. In this article, we propose an intelligent resource allocation framework for quantum computing networks to improve network scalability with minimized resource costs. To achieve scalability in quantum computing networks, we formulate the resource allocation problem as stochastic programming, accounting for the uncertain fidelities of qubits and entangled pairs. Furthermore, we introduce state-of-the-art reinforcement learning (RL) algorithms, from generative learning to quantum machine learning for optimal quantum resource allocation to resolve the proposed stochastic resource allocation problem efficiently. Finally, we optimize the resource allocation in heterogeneous quantum computing networks supporting quantum generative learning applications and propose a multi-agent RL-based algorithm to learn the optimal resource allocation policies without prior knowledge.


Machine Learning for Quantum Computing Specialists

Abstract: Quantum machine learning (QML) is a promising early use case for quantum computing. There has been progress in the last five years from theoretical studies and numerical simulations to proof of concepts. Use cases demonstrated on contemporary quantum devices include classifying medical images and items from the Iris dataset, classifying and generating handwritten images, toxicity screening, and learning a probability distribution. Potential benefits of QML include faster training and identification of feature maps not found classically. Although, these examples lack the scale for commercial exploitation, and it may be several years before QML algorithms replace the classical solutions, QML is an exciting area. This article is written for those who already have a sound knowledge of quantum computing and now wish to gain a basic overview of the terminology and some applications of classical machine learning ready to study quantum machine learning. The reader will already understand the relevant relevant linear algebra, including Hilbert spaces, a vector space with an inner product.


A Quantum Computing Approach for Multi-robot Coverage Path Planning

Abstract: This paper tackles the multi-vehicle Coverage Path Planning (CPP) problem, crucial for applications like search and rescue or environmental monitoring. Due to its NP-hard nature, finding optimal solutions becomes infeasible with larger problem sizes. This motivates the development of heuristic approaches that enhance efficiency even marginally. We propose a novel approach for exploring paths in a 2D grid, specifically designed for easy integration with the Quantum Alternating Operator Ansatz (QAOA), a powerful quantum heuristic. Our contribution includes: 1) An objective function tailored to solve the multi-vehicle CPP using QAOA. 2) Theoretical proofs guaranteeing the validity of the proposed approach. 3) Efficient construction of QAOA operators for practical implementation. 4) Resource estimation to assess the feasibility of QAOA execution. 5) Performance comparison against established algorithms like the Depth First Search. This work paves the way for leveraging quantum computing in optimizing multi-vehicle path planning, potentially leading to real-world advancements in various applications.


From Portfolio Optimization to Quantum Blockchain and Security: A Systematic Review of Quantum Computing in Finance

Abstract: In this paper, we provide an overview of the recent work in the quantum finance realm from various perspectives. The applications in consideration are Portfolio Optimization, Fraud Detection, and Monte Carlo methods for derivative pricing and risk calculation. Furthermore, we give a comprehensive overview of the applications of quantum computing in the field of blockchain technology which is a main concept in fintech. In that sense, we first introduce the general overview of blockchain with its main cryptographic primitives such as digital signature algorithms, hash functions, and random number generators as well as the security vulnerabilities of blockchain technologies after the merge of quantum computers considering Shor's quantum factoring and Grover's quantum search algorithms. We then discuss the privacy preserving quantum-resistant blockchain systems via threshold signatures, ring signatures, and zero-knowledge proof systems i.e. ZK-SNARKs in quantum resistant blockchains. After emphasizing the difference between the quantum-resistant blockchain and quantum-safe blockchain we mention the security countermeasures to take against the possible quantumized attacks aiming these systems. We finalize our discussion with quantum blockchain, efficient quantum mining and necessary infrastructures for constructing such systems based on quantum computing. This review has the intention to be a bridge to fill the gap between quantum computing and one of its most prominent application realms: Finance. We provide the state-of-the-art results in the intersection of finance and quantum technology for both industrial practitioners and academicians.


Efficient techniques to GPU Accelerations of Multi-Shot Quantum Computing Simulations

Abstract: Quantum computers are becoming practical for computing numerous applications. However, simulating quantum computing on classical computers is still demanding yet useful because current quantum computers are limited because of computer resources, hardware limits, instability, and noises. Improving quantum computing simulation performance in classical computers will contribute to the development of quantum computers and their algorithms. Quantum computing simulations on classical computers require long performance times, especially for quantum circuits with a large number of qubits or when simulating a large number of shots for noise simulations or circuits with intermediate measures. Graphical processing units (GPU) are suitable to accelerate quantum computer simulations by exploiting their computational power and high bandwidth memory and they have a large advantage in simulating relatively larger qubits circuits. However, GPUs are inefficient at simulating multi-shots runs with noises because the randomness prevents highly parallelization. In addition, GPUs have a disadvantage in simulating circuits with a small number of qubits because of the large overheads in GPU kernel execution. In this paper, we introduce optimization techniques for multi-shot simulations on GPUs. We gather multiple shots of simulations into a single GPU kernel execution to reduce overheads by scheduling randomness caused by noises. In addition, we introduce shot-branching that reduces calculations and memory usage for multi-shot simulations. By using these techniques, we speed up x10 from previous implementations.


Expressing and Analyzing Quantum Algorithms with Qualtran

Abstract: Quantum computing's transition from theory to reality has spurred the need for novel software tools to manage the increasing complexity, sophistication, toil, and fallibility of quantum algorithm development. We present Qualtran, an open-source library for representing and analyzing quantum algorithms. Using appropriate abstractions and data structures, we can simulate and test algorithms, automatically generate information-rich diagrams, and tabulate resource requirements. Qualtran offers a standard library of algorithmic building blocks that are essential for modern cost-minimizing compilations. Its capabilities are showcased through the re-analysis of key algorithms in Hamiltonian simulation, chemistry, and cryptography. Architecture-independent resource counts output by Qualtran can be forwarded to our implementation of cost models to estimate physical costs like wall-clock time and number of physical qubits assuming a surface-code architecture. Qualtran provides a foundation for explicit constructions and reproducible analysis, fostering greater collaboration within the growing quantum algorithm development community.


The Quantum Tortoise and the Classical Hare: A simple framework for understanding which problems quantum computing will accelerate (and which it will not)

Abstract: Quantum computing promises transformational gains for solving some problems, but little to none for others. For anyone hoping to use quantum computers now or in the future, it is important to know which problems will benefit. In this paper, we introduce a framework for answering this question both intuitively and quantitatively. The underlying structure of the framework is a race between quantum and classical computers, where their relative strengths determine when each wins. While classical computers operate faster, quantum computers can sometimes run more efficient algorithms. Whether the speed advantage or the algorithmic advantage dominates determines whether a problem will benefit from quantum computing or not. Our analysis reveals that many problems, particularly those of small to moderate size that can be important for typical businesses, will not benefit from quantum computing. Conversely, larger problems or those with particularly big algorithmic gains will benefit from near-term quantum computing. Since very large algorithmic gains are rare in practice and theorized to be rare even in principle, our analysis suggests that the benefits from quantum computing will flow either to users of these rare cases, or practitioners processing very large data.


Challenges for Reinforcement Learning in Quantum Computing


New Abstractions for Quantum Computing

Abstract: The field of quantum computing is at an exciting time where we are constructing novel hardware, evaluating algorithms, and finding out what works best. As qubit technology grows and matures, we need to be ready to design and program larger quantum computer systems. An important aspect of systems design is layered abstractions to reduce complexity and guide intuition. Classical computer systems have built up many abstractions over their history including the layers of the hardware stack and programming abstractions like loops. Researchers initially ported these abstractions with little modification when designing quantum computer systems and only in recent years have some of those abstractions been broken in the name of optimization and efficiency. We argue that new or quantum-tailored abstractions are needed to get the most benefit out of quantum computer systems. We keep the benefits gained through breaking old abstraction by finding abstractions aligned with quantum physics and the technology. This dissertation is supported by three examples of abstractions that could become a core part of how we design and program quantum computers: third-level logical state as scratch space, memory as a third spacial dimension for quantum data, and hierarchical program structure.


Minimizing Photonic Cluster State Depth in Measurement-Based Quantum Computing

Abstract: Measurement-based quantum computing (MBQC) is a promising quantum computing paradigm that performs computation through ``one-way'' measurements on entangled quantum qubits. It is widely used in photonic quantum computing (PQC), where the computation is carried out on photonic cluster states (i.e., a 2-D mesh of entangled photons). In MBQC-based PQC, the cluster state depth (i.e., the length of one-way measurements) to execute a quantum circuit plays an important role in the overall execution time and error. Thus, it is important to reduce the cluster state depth. In this paper, we propose FMCC, a compilation framework that employs dynamic programming to efficiently minimize the cluster state depth. Experimental results on five representative quantum algorithms show that FMCC achieves 53.6%, 60.6%, and 60.0% average depth reductions in small, medium, and large qubit counts compared to the state-of-the-art MBQC compilation frameworks.


Guess What Quantum Computing Can Do for Test Case Optimization


Quantum Computing for Solid Mechanics and Structural Engineering - a Demonstration with Variational Quantum Eigensolver

Abstract: Variational quantum algorithms exploit the features of superposition and entanglement to optimize a cost function efficiently by manipulating the quantum states. They are suitable for noisy intermediate-scale quantum (NISQ) computers that recently became accessible to the worldwide research community. Here, we implement and demonstrate the numerical processes on the 5-qubit and 7-qubit quantum processors on the IBM Qiskit Runtime platform. We combine the commercial finite-element-method (FEM) software ABAQUS with the implementation of Variational Quantum Eigensolver (VQE) to establish an integrated pipeline. Three examples are used to investigate the performance: a hexagonal truss, a Timoshenko beam, and a plane-strain continuum. We conduct parametric studies on the convergence of fundamental natural frequency estimation using this hybrid quantum-classical approach. Our findings can be extended to problems with many more degrees of freedom when quantum computers with hundreds of qubits become available in the near future.


Practical application-specific advantage through hybrid quantum computing

Abstract: Quantum computing promises to tackle technological and industrial problems insurmountable for classical computers. However, today's quantum computers still have limited demonstrable functionality, and it is expected that scaling up to millions of qubits is required for them to live up to this touted promise. The feasible route in achieving practical quantum advantage goals is to implement a hybrid operational mode that realizes the cohesion of quantum and classical computers. Here we present a hybrid quantum cloud based on a memory-centric and heterogeneous multiprocessing architecture, integrated into a high-performance computing data center grade environment. We demonstrate that utilizing the quantum cloud, our hybrid quantum algorithms including Quantum Encoding (QuEnc), Hybrid Quantum Neural Networks and Tensor Networks enable advantages in optimization, machine learning, and simulation fields. We show the advantage of hybrid algorithms compared to standard classical algorithms in both the computational speed and quality of the solution. The achieved advance in hybrid quantum hardware and software makes quantum computing useful in practice today.


Variational Quantum Algorithms for Combinatorial Optimization

Abstract: The promise of quantum computing to address complex problems requiring high computational resources has long been hindered by the intrinsic and demanding requirements of quantum hardware development. Nonetheless, the current state of quantum computing, denominated Noisy Intermediate-Scale Quantum (NISQ) era, has introduced algorithms and methods that are able to harness the computational power of current quantum computers with advantages over classical computers (referred to as quantum advantage). Achieving quantum advantage is of particular relevance for the combinatorial optimization domain, since it often implies solving an NP-Hard optimization problem. Moreover, combinatorial problems are highly relevant for practical application areas, such as operations research, or resource allocation problems. Among quantum computing methods, Variational Quantum Algorithms (VQA) have emerged as one of the strongest candidates towards reaching practical applicability of NISQ systems. This paper explores the current state and recent developments of VQAs, emphasizing their applicability to combinatorial optimization. We identify the Quantum Approximate Optimization Algorithm (QAOA) as the leading candidate for these problems. Furthermore, we implement QAOA circuits with varying depths to solve the MaxCut problem on graphs with 10 and 20 nodes, demonstrating the potential and challenges of using VQAs in practical optimization tasks. We release our code, dataset and optimized circuit parameters under https://github.com/DanielFPerez/VQA-for-MaxCut.


QPanda: high-performance quantum computing framework for multiple application scenarios

Abstract: With the birth of Noisy Intermediate Scale Quantum (NISQ) devices and the verification of"quantum supremacy"in random number sampling and boson sampling, more and more fields hope to use quantum computers to solve specific problems, such as aerodynamic design, route allocation, financial option prediction, quantum chemical simulation to find new materials, and the challenge of quantum cryptography to automotive industry security. However, these fields still need to constantly explore quantum algorithms that adapt to the current NISQ machine, so a quantum programming framework that can face multi-scenarios and application needs is required. Therefore, this paper proposes QPanda, an application scenario-oriented quantum programming framework with high-performance simulation. Such as designing quantum chemical simulation algorithms based on it to explore new materials, building a quantum machine learning framework to serve finance, etc. This framework implements high-performance simulation of quantum circuits, a configuration of the fusion processing backend of quantum computers and supercomputers, and compilation and optimization methods of quantum programs for NISQ machines. Finally, the experiment shows that quantum jobs can be executed with high fidelity on the quantum processor using quantum circuit compile and optimized interface and have better simulation performance.


Paint shop vehicle sequencing based on quantum computing considering color changeover and painting quality

Abstract: As customer demands become increasingly diverse, the colors and styles of vehicles offered by automotive companies have also grown substantially. It poses great challenges to design and management of automotive manufacturing system, among which is the proper sequencing of vehicles in everyday operation of the paint shop. With typically hundreds of vehicles in one shift, the paint shop sequencing problem is intractable in classical computing. In this paper, we propose to solve a general paint shop sequencing problem using state-of-the-art quantum computing algorithms. Most existing works are solely focused on reducing color changeover costs, i.e., costs incurred by different colors between consecutive vehicles. This work reveals that different sequencing of vehicles also significantly affects the quality performance of the painting process. We use a machine learning model pretrained on historical data to predict the probability of painting defect. The problem is formulated as a combinational optimization problem with two cost components, i.e., color changeover cost and repair cost. The problem is further converted to a quantum optimization problem and solved with Quantum Approximation Optimization Algorithm (QAOA). As a matter of fact, current quantum computers are still limited in accuracy and scalability. However, with a simplified case study, we demonstrate how the classic sequencing problem in paint shop can be formulated and solved using quantum computing and demonstrate the potential of quantum computing in solving real problems in manufacturing systems.


Q2Graph: a modelling tool for measurement-based quantum computing

Abstract: The quantum circuit model is the default for encoding an algorithm intended for a NISQ computer or a quantum computing simulator. A simple graph and through it, a graph state - quantum state physically manifesting an abstract graph structure - is syntactically expressive and tractable. A graph representation is well-suited for algorithms intended for a quantum computing facility founded on measurement-based quantum computing (MBQC) principles. Indeed, the process of creating an algorithm-specific graph can be efficiently realised through classical computing hardware. A graph state is a stabiliser state, which means a graph is a (quantum) intermediate representation at all points of the algorithm-specific graph process. We submit Q2Graph, a software package for designing and testing of simple graphs as algorithms for quantum computing facilities based on MQBC design principles. Q2Graph is a suitable modelling tool for NISQ computing facilities: the user is free to reason about structure or characteristics of its graph-as-algorithm without also having to account for (quantum) errors and their impact upon state.


Quantum computing overview: discrete vs. continuous variable models

Abstract: In this Near Intermediate-Scale Quantum era, there are two types of near-term quantum devices available on cloud: superconducting quantum processing units (QPUs) based on the discrete variable model and linear optics (photonics) QPUs based on the continuous variable (CV) model. Quantum computation in the discrete variable model is performed in a ﬁnite dimensional quantum state space and the CV model in an inﬁnite dimensional space. In implementing quantum algorithms, the CV model offers more quantum gates that are not available in the discrete variable model. CV-based photonic quantum computers provide additional ﬂexibility of controlling the length of the output vectors of quantum circuits, using different methods of measurement and the notion of cutoff dimension.


Financial Index Tracking via Quantum Computing with Cardinality Constraints

Abstract: In this work, we demonstrate how to apply non-linear cardinality constraints, important for real-world asset management, to quantum portfolio optimization. This enables us to tackle non-convex portfolio optimization problems using quantum annealing that would otherwise be challenging for classical algorithms. Being able to use cardinality constraints for portfolio optimization opens the doors to new applications for creating innovative portfolios and exchange-traded-funds (ETFs). We apply the methodology to the practical problem of enhanced index tracking and are able to construct smaller portfolios that signiﬁcantly outperform the risk proﬁle of the target index whilst retaining high degrees of tracking.


Developing a Framework for Sonifying Variational Quantum Algorithms: Implications for Music Composition

Abstract: This chapter examines the Variational Quantum Harmonizer, a software tool and musical interface that focuses on the problem of sonification of the minimization steps of Variational Quantum Algorithms (VQA), used for simulating properties of quantum systems and optimization problems assisted by quantum hardware. Particularly, it details the sonification of Quadratic Unconstrained Binary Optimization (QUBO) problems using VQA. A flexible design enables its future applications both as a sonification tool for auditory displays in scientific investigation, and as a hybrid quantum-digital musical instrument for artistic endeavours. In turn, sonification can help researchers understand complex systems better and can serve for the training of quantum physics and quantum computing. The VQH structure, including its software implementation, control mechanisms, and sonification mappings are detailed. Moreover, it guides the design of QUBO cost functions in VQH as a music compositional object. The discussion is extended to the implications of applying quantum-assisted simulation in quantum-computer aided composition and live-coding performances. An artistic output is showcased by the piece \textit{Hexagonal Chambers} (Thomas and Itabora\'i, 2023).


Quantum Algorithms for Optimal Power Flow

Abstract: This paper explores the use of quantum computing, specifically the use of HHL and VQLS algorithms, to solve optimal power flow problem in electrical grids. We investigate the effectiveness of these quantum algorithms in comparison to classical methods. The simulation results presented here which substantially improve the results in [1] indicate that quantum approaches yield similar solutions and optimal costs compared to classical methods, suggesting the potential use case of quantum computing for power system optimization.

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Mathematics


Retrodictive Quantum Computing

Abstract: Quantum models of computation are widely believed to be more powerful than classical ones. Efforts center on proving that, for a given problem, quantum algorithms are more resource efficient than any classical one. All this, however, assumes a standard predictive paradigm of reasoning where, given initial conditions, the future holds the answer. How about bringing information from the future to the present and exploit it to one's advantage? This is a radical new approach for reasoning, so-called Retrodictive Computation, that benefits from the specific form of the computed functions. We demonstrate how to use tools of symbolic computation to realize retrodictive quantum computing at scale and exploit it to efficiently, and classically, solve instances of the quantum Deutsch-Jozsa, Bernstein-Vazirani, Simon, Grover, and Shor's algorithms.


Hybrid Quantum-HPC Solutions for Max-Cut: Bridging Classical and Quantum Algorithms

Abstract: This research explores the integration of the Quantum Approximate Optimization Algorithm (QAOA) into Hybrid Quantum-HPC systems for solving the Max-Cut problem, comparing its performance with classical algorithms like brute-force search and greedy heuristics. We develop a theoretical model to analyze the time complexity, scalability, and communication overhead in hybrid systems. Using simulations, we evaluate QAOA's performance on small-scale Max-Cut instances, benchmarking its runtime, solution accuracy, and resource utilization. The study also investigates the scalability of QAOA with increasing problem size, offering insights into its potential advantages over classical methods for large-scale combinatorial optimization problems, with implications for future Quantum computing applications in HPC environments.


Enhancing Quantum Variational Algorithms with Zero Noise Extrapolation via Neural Networks

Abstract: In the emergent realm of quantum computing, the Variational Quantum Eigensolver (VQE) stands out as a promising algorithm for solving complex quantum problems, especially in the noisy intermediate-scale quantum (NISQ) era. However, the ubiquitous presence of noise in quantum devices often limits the accuracy and reliability of VQE outcomes. This research introduces a novel approach to ameliorate this challenge by utilizing neural networks for zero noise extrapolation (ZNE) in VQE computations. By employing the Qiskit framework, we crafted parameterized quantum circuits using the RY-RZ ansatz and examined their behavior under varying levels of depolarizing noise. Our investigations spanned from determining the expectation values of a Hamiltonian, defined as a tensor product of Z operators, under different noise intensities to extracting the ground state energy. To bridge the observed outcomes under noise with the ideal noise-free scenario, we trained a Feed Forward Neural Network on the error probabilities and their associated expectation values. Remarkably, our model proficiently predicted the VQE outcome under hypothetical noise-free conditions. By juxtaposing the simulation results with real quantum device executions, we unveiled the discrepancies induced by noise and showcased the efficacy of our neural network-based ZNE technique in rectifying them. This integrative approach not only paves the way for enhanced accuracy in VQE computations on NISQ devices but also underlines the immense potential of hybrid quantum-classical paradigms in circumventing the challenges posed by quantum noise. Through this research, we envision a future where quantum algorithms can be reliably executed on noisy devices, bringing us one step closer to realizing the full potential of quantum computing.


Quantum Approximate Optimization Algorithms for Maxmimum Cut on Low-Girth Graphs

Abstract: Maximum cut (MaxCut) on graphs is a classic NP-hard problem. In quantum computing, Farhi, Gutmann, and Goldstone proposed the Quantum Approximate Optimization Algorithm (QAOA) for solving the MaxCut problem. Its guarantee on cut fraction (the fraction of edges in the output cut over all edges) was mainly studied for high-girth graphs, i.e., graphs with only long cycles. On the other hand, low-girth graphs are ubiquitous in theoretical computer science, including expander graphs being outstanding examples with wide applications in theory and beyond. In this paper, we apply QAOA to MaxCut on a set of expander graphs proposed by Mohanty and O'Donnell known as additive product graphs. Additionally, we apply multi-angle QAOA (ma-QAOA) to better utilize the graph structure of additive product graphs in ansatz design. In theory, we derive an iterative formula to calculate the expected cut fraction of such graphs. This formula also extends to the quantum MaxCut problem. On the other hand, we conduct numerical experiments to compare between best-known classical local algorithms and QAOA with constant depth. Our results demonstrate that QAOA outperforms the best-known classical algorithms by 0.3% to 5.2% on several additive product graphs, while ma-QAOA further enhances this advantage by an additional 0.6% to 2.5%. In particular, we observe cases that ma-QAOA exhibits superiority over best-known classical algorithms but QAOA does not. Furthermore, we extend our experiments to planar graphs such as tiling grid graphs, where QAOA also demonstrates an advantage.


The Continuous Logarithm in the Complex Circle for Post-Quantum Cryptographic Algorithms

Abstract: This paper introduces a novel cryptographic approach based on the continuous logarithm in the complex circle, designed to address the challenges posed by quantum computing. By leveraging its multi-valued and spectral properties, this framework enables the reintroduction of classical algorithms (DH, ECDSA, ElGamal, EC) and elliptic curve variants into the post-quantum landscape. Transitioning from classical or elliptic algebraic structures to the geometric and spectral properties of the complex circle, we propose a robust and adaptable foundation for post-quantum cryptography.


Quantum Time-Series Learning with Evolutionary Algorithms

Abstract: Variational quantum circuits have arisen as an important method in quantum computing. A crucial step of it is parameter optimization, which is typically tackled through gradient-descent techniques. We advantageously explore instead the use of evolutionary algorithms for such optimization, specifically for time-series forecasting. We perform a comparison, for diverse instances of real-world data, between gradient-descent parameter optimization and covariant-matrix adaptation evolutionary strategy. We observe that gradient descent becomes permanently trapped in local minima that have been avoided by evolutionary algorithms in all tested datasets, reaching up to a six-fold decrease in prediction error. Finally, the combined use of evolutionary and gradient-based techniques is explored, aiming at retaining advantages of both. The results are particularly applicable in scenarios sensitive to gains in accuracy.


Efficient charge-preserving excited state preparation with variational quantum algorithms

Abstract: Determining the spectrum and wave functions of excited states of a system is crucial in quantum physics and chemistry. Low-depth quantum algorithms, such as the Variational Quantum Eigensolver (VQE) and its variants, can be used to determine the ground-state energy. However, current approaches to computing excited states require numerous controlled unitaries, making the application of the original Variational Quantum Deflation (VQD) algorithm to problems in chemistry or physics suboptimal. In this study, we introduce a charge-preserving VQD (CPVQD) algorithm, designed to incorporate symmetry and the corresponding conserved charge into the VQD framework. This results in dimension reduction, significantly enhancing the efficiency of excited-state computations. We present benchmark results with GPU-accelerated simulations using systems up to 24 qubits, showcasing applications in high-energy physics, nuclear physics, and quantum chemistry. This work is performed on NERSC's Perlmutter system using NVIDIA's open-source platform for accelerated quantum supercomputing - CUDA-Q.


Denoising Gradient Descent in Variational Quantum Algorithms

Abstract: In this article we introduce an algorithm for mitigating the adverse effects of noise on gradient descent in variational quantum algorithms. This is accomplished by computing a {\emph{regularized}} local classical approximation to the objective function at every gradient descent step. The computational overhead of our algorithm is entirely classical, i.e., the number of circuit evaluations is exactly the same as when carrying out gradient descent using the parameter-shift rules. We empirically demonstrate the advantages offered by our algorithm on randomized parametrized quantum circuits.


Kernel Descent - a Novel Optimizer for Variational Quantum Algorithms


Lecture Notes on Quantum Algorithms for Scientific Computation

Abstract: This is a set of lecture notes used in a graduate topic class in applied mathematics called ``Quantum Algorithms for Scientific Computation'' at the Department of Mathematics, UC Berkeley during the fall semester of 2021. These lecture notes focus only on quantum algorithms closely related to scientific computation, and in particular, matrix computation. The main purpose of the lecture notes is to introduce quantum phase estimation (QPE) and ``post-QPE'' methods such as block encoding, quantum signal processing, and quantum singular value transformation, and to demonstrate their applications in solving eigenvalue problems, linear systems of equations, and differential equations. The intended audience is the broad computational science and engineering (CSE) community interested in using fault-tolerant quantum computers to solve challenging scientific computing problems.


The Conquest of Quantum Genetic Algorithms: The Adventure to Cross the Valley of Death

Abstract: In recent years, the emergence of the first quantum computers at a time when AI is undergoing a fruitful era has led many AI researchers to be tempted into adapting their algorithms to run on a quantum computer. However, in many cases the initial enthusiasm has ended in frustration, since the features and principles underlying quantum computing are very different from traditional computers. In this paper, we present a discussion of the difficulties arising when designing a quantum version of an evolutionary algorithm based on Darwin's evolutionary mechanism, the so-called genetic algorithms. The paper includes the code in both Python and QISKIT of the quantum version of one of these evolutionary algorithms allowing the reader to experience the setbacks arising when translating a classical algorithm to its quantum version. The algorithm studied in this paper, termed RQGA (Reduced Quantum Genetic Algorithm), has been chosen as an example that clearly shows these difficulties, which are common to other AI algorithms.


Indirect Quantum Approximate Optimization Algorithms: application to the TSP

Abstract: We propose an Indirect Quantum Approximate Optimization Algorithm (referred to as IQAOA) where the Quantum Alternating Operator Ansatz takes into consideration a general parameterized family of unitary operators to efficiently model the Hamiltonian describing the set of string vectors. This algorithm creates an efficient alternative to QAOA, where: 1) a Quantum parametrized circuit executed on a quantum machine models the set of string vectors; 2) a Classical meta-optimization loop executed on a classical machine; 3) an estimation of the average cost of each string vector computing, using a well know algorithm coming from the OR community that is problem dependent. The indirect encoding defined by dimensional string vector is mapped into a solution by an efficient coding/decoding mechanism. The main advantage is to obtain a quantum circuit with a strongly limited number of gates that could be executed on the noisy current quantum machines. The numerical experiments achieved with IQAOA permits to solve 8-customer instances TSP using the IBM simulator which are to the best of our knowledge the largest TSP ever solved using a QAOA based approach.


Influences of Fourier Completely Bounded Polynomials and Classical Simulation of Quantum Algorithms

Abstract: We give a new presentation of the main result of Arunachalam, Bri\"et and Palazuelos (SICOMP'19) and show that quantum query algorithms are characterized by a new class of polynomials which we call Fourier completely bounded polynomials. We conjecture that all such polynomials have an influential variable. This conjecture is weaker than the famous Aaronson-Ambainis (AA) conjecture (Theory of Computing'14), but has the same implications for classical simulation of quantum query algorithms. We prove a new case of the AA conjecture by showing that it holds for homogeneous Fourier completely bounded polynomials. This implies that if the output of $d$-query quantum algorithm is a homogeneous polynomial $p$ of degree $2d$, then it has a variable with influence at least $Var[p]^2$. In addition, we give an alternative proof of the results of Bansal, Sinha and de Wolf (CCC'22 and QIP'23) showing that block-multilinear completely bounded polynomials have influential variables. Our proof is simpler, obtains better constants and does not use randomness.


Simulating Noisy Quantum Circuits for Cryptographic Algorithms

Abstract: The emergence of noisy intermediate-scale quantum (NISQ) computers has important consequences for cryptographic algorithms. It is theoretically well-established that key algorithms used in cybersecurity are vulnerable to quantum computers due to the fact that theoretical security guarantees, designed based on algorithmic complexity for classical computers, are not sufficient for quantum circuits. Many different quantum algorithms have been developed, which have potentially broad applications on future computing systems. However, this potential depends on the continued maturation of quantum hardware, which remains an area of active research and development. Theoretical limits provide an upper bound on the performance for algorithms. In practice, threats to encryption can only be accurately be assessed in the context of the rapidly evolving hardware and software landscape. Software co-design refers to the concurrent design of software and hardware as a way to understand the limitations of current capabilities and develop effective strategies to advance the state of the art. Since the capabilities for classical computation currently exceed quantum capabilities, quantum emulation techniques can play an important role in the co-design process. In this paper, we describe how the {\em cuQuantum} environment can support quantum algorithm co-design activities using widely-available commodity hardware. We describe how emulation techniques can be used to assess the impact of noise on algorithms of interest, and identify limitations associated with current hardware. We present our analysis in the context of areas of priority for cybersecurity and cryptography in particular since these algorithms are extraordinarily consequential for securing information in the digital world.


An LLVM-based C++ Compiler Toolchain for Variational Hybrid Quantum-Classical Algorithms and Quantum Accelerators

Abstract: Variational algorithms are a representative class of quantum computing workloads that combine quantum and classical computing. This paper presents an LLVM-based C++ compiler toolchain to efficiently execute variational hybrid quantum-classical algorithms on a computational system in which the quantum device acts as an accelerator. We introduce a set of extensions to the C++ language for programming these algorithms. We define a novel Executable and Linking Format (ELF) for Quantum and create a quantum device compiler component in the LLVM framework to compile the quantum part of the C++ source and reuse the host compiler in the LLVM framework to compile the classical computing part of the C++ source. A variational algorithm runs a quantum circuit repeatedly, each time with different gate parameters. We add to the quantum runtime the capability to execute dynamically a quantum circuit with different parameters. Thus, programmers can call quantum routines the same way as classical routines. With these capabilities, a variational hybrid quantum-classical algorithm can be specified in a single-source code and only needs to be compiled once for all iterations. The single compilation significantly reduces the execution latency of variational algorithms. We evaluate the framework's performance by running quantum circuits that prepare Thermofield Double (TFD) states, a quantum-classical variational algorithm.


Robust Quantum Controllers: Quantum Information - Thermodynamic Hidden Force Control in Intelligent Robotics based on Quantum Soft Computing

Abstract: A generalized strategy for the design of intelligent robust control systems based on quantum / soft computing technologies is described. The reliability of hybrid intelligent controllers increase by providing the ability to self-organize of imperfect knowledge bases. The main attention is paid to increasing the level of robustness of intelligent control systems in unpredictable control situations with the demonstration by illustrative examples. A SW&HW platform and support tools for a supercomputer accelerator for modeling quantum algorithms on a classical computer are described.


How to Build a Quantum Supercomputer: Scaling from Hundreds to Millions of Qubits

Abstract: In the span of four decades, quantum computation has evolved from an intellectual curiosity to a potentially realizable technology. Today, small-scale demonstrations have become possible for quantum algorithmic primitives on hundreds of physical qubits. Nevertheless, there are significant outstanding challenges in quantum hardware, fabrication, software architecture, and algorithms on the path towards a full-stack scalable quantum computing technology. Here, we provide a comprehensive review of these scaling challenges. We show how to facilitate scaling by adopting existing semiconductor technology to build much higher-quality qubits, employing systems engineering approaches, and performing distributed heterogeneous quantum-classical computing. We provide a detailed resource and sensitivity analysis for quantum applications on surface-code error-corrected quantum computers given current, target, and desired hardware specifications based on superconducting qubits, accounting for a realistic distribution of errors. We provide comprehensive resource estimates for several utility-scale applications including quantum chemistry calculations, catalyst design, NMR spectroscopy, and Fermi-Hubbard simulation. We show that orders of magnitude enhancement in performance could be obtained by a combination of hardware improvements and tight quantum-HPC integration. Furthermore, we introduce high-performance architectures for quantum-probabilistic computing with custom-designed accelerators to tackle today's industry-scale classical optimization, machine learning, and quantum simulation tasks in a cost-effective manner.


Quantum Algorithms for solving Hard Constrained Optimisation Problems

Abstract: The thesis deals with Quantum Algorithms for solving Hard Constrained Optimization Problems. It shows how quantum computers can solve difficult everyday problems such as finding the best schedule for social workers or the path of a robot picking and batching in a warehouse. The path to the solution has led to the definition of a new artificial intelligence paradigm with quantum computing, quantum Case-Based Reasoning (qCBR) and to a proof of concept to integrate the capacity of quantum computing within mobile robotics using a Raspberry Pi 4 as a processor (qRobot), capable of operating with leading technology players such as IBMQ, Amazon Braket (D-Wave) and Pennylane. To improve the execution time of variational algorithms in this NISQ era and the next, we have proposed EVA: a quantum Exponential Value Approximation algorithm that speeds up the VQE, and that is, to date, the flagship of the quantum computation. To improve the execution time of variational algorithms in this NISQ era and the next, we have proposed EVA: a quantum Exponential Value Approximation algorithm that speeds up the VQE, and that is, to date, the flagship of the quantum computation.


Basic Quantum Algorithms

Abstract: Quantum computing is evolving so rapidly that it forces us to revisit, rewrite, and update the foundations of the theory. \emph{Basic Quantum Algorithms} revisits the earliest quantum algorithms. The journey began in 1985 with Deutsch attempting to evaluate a function at two domain points simultaneously. Then, in 1992, Deutsch and Jozsa created a quantum algorithm that determines whether a Boolean function is constant or balanced. The following year, Bernstein and Vazirani realized that essentially the same algorithm could be used to identify a specific Boolean function within a set of linear Boolean functions. In 1994, Simon introduced a novel quantum algorithm that determines whether a function is one-to-one or two-to-one exponentially faster than any classical algorithm for the same problem. That same year, Shor developed two groundbreaking quantum algorithms for integer factoring and calculating discrete logarithms, posing a threat to widely used cryptographic methods. In 1995, Kitaev proposed an alternative formulation based on phase estimation that proved valuable in numerous applications. The following year, Grover devised a quantum search algorithm that is quadratically faster than its classical counterpart. More than a decade later, Harrow, Hassidim, and Lloyd proposed a quantum algorithm for solving systems of linear equations, now known as the HHL algorithm. With an emphasis on the circuit model, this work provides a detailed description of all these remarkable algorithms.


Post-Quantum Cryptography for Internet of Things: A Survey on Performance and Optimization

Abstract: Due to recent development in quantum computing, the invention of a large quantum computer is no longer a distant future. Quantum computing severely threatens modern cryptography, as the hard mathematical problems beneath classic public-key cryptosystems can be solved easily by a sufficiently large quantum computer. As such, researchers have proposed PQC based on problems that even quantum computers cannot efficiently solve. Generally, post-quantum encryption and signatures can be hard to compute. This could potentially be a problem for IoT, which usually consist lightweight devices with limited computational power. In this paper, we survey existing literature on the performance for PQC in resource-constrained devices to understand the severeness of this problem. We also review recent proposals to optimize PQC algorithms for resource-constrained devices. Overall, we find that whilst PQC may be feasible for reasonably lightweight IoT, proposals for their optimization seem to lack standardization. As such, we suggest future research to seek coordination, in order to ensure an efficient and safe migration toward IoT for the post-quantum era.


From Quantum Graph Computing to Quantum Graph Learning: A Survey

Abstract: Quantum computing (QC) is a new computational paradigm whose foundations relate to quantum physics. Notable progress has been made, driving the birth of a series of quantum-based algorithms that take advantage of quantum computational power. In this paper, we provide a targeted survey of the development of QC for graph-related tasks. We first elaborate the correlations between quantum mechanics and graph theory to show that quantum computers are able to generate useful solutions that can not be produced by classical systems efficiently for some problems related to graphs. For its practicability and wide-applicability, we give a brief review of typical graph learning techniques designed for various tasks. Inspired by these powerful methods, we note that advanced quantum algorithms have been proposed for characterizing the graph structures. We give a snapshot of quantum graph learning where expectations serve as a catalyst for subsequent research. We further discuss the challenges of using quantum algorithms in graph learning, and future directions towards more flexible and versatile quantum graph learning solvers.


Discussion of Quantum Consensus Algorithms

Abstract: Leader election is a crucial process in many areas such as cloud computing, distributed systems, task orchestration, and blockchain. Oftentimes, in a distributed system, the network needs to choose a leader, which would be responsible for synchronization between different processors, data storage, information distribution, and more.


The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systems

Abstract: Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe operation of these systems, which remains as crucial as ever. While traditional model-based safe control methods struggle with generalizability and scalability, emerging data-driven approaches tend to lack well-understood guarantees, which can result in unpredictable catastrophic failures. Successful deployment of the next generation of autonomous robots will require integrating the strengths of both paradigms. This article provides a review of safety filter approaches, highlighting important connections between existing techniques and proposing a unified technical framework to understand, compare, and combine them. The new unified view exposes a shared modular structure across a range of seemingly disparate safety filter classes and naturally suggests directions for future progress toward more scalable synthesis, robust monitoring, and efficient intervention. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 7 is May 2024. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Annu. Rev. Control. Robotics Auton. Syst.


Adversarial AI Testcases for Maritime Autonomous Systems

Abstract: Contemporary maritime operations such as shipping are a vital component constituting global trade and defence. The evolution towards maritime autonomous systems, often providing significant benefits (e.g., cost, physical safety), requires the utilisation of artificial intelligence (AI) to automate the functions of a conventional crew. However, unsecured AI systems can be plagued with vulnerabilities naturally inherent within complex AI models. The adversarial AI threat, primarily only evaluated in a laboratory environment, increases the likelihood of strategic adversarial exploitation and attacks on mission-critical AI, including maritime autonomous systems. This work evaluates AI threats to maritime autonomous systems in situ. The results show that multiple attacks can be used against real-world maritime autonomous systems with a range of lethality. However, the effects of AI attacks vary in a dynamic and complex environment from that proposed in lower entropy laboratory environments. We propose a set of adversarial test examples and demonstrate their use, specifically in the marine environment. The results of this paper highlight security risks and deliver a set of principles to mitigate threats to AI, throughout the AI lifecycle, in an evolving threat landscape.

AI Computer Science and Robotics Technology

AI, Computer Science and Robotics Technology


Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability

Abstract: Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However, often these same scenarios have unknown or uncertain environments, system dynamics, or predictions of other agents. As the system is operating, it may learn new knowledge about these uncertainties and should therefore update its safety analysis accordingly. However, work to learn and update safety analysis is limited to small systems of about two dimensions due to the computational complexity of the analysis. In this paper we synthesize several techniques to speed up computation: decomposition, warm-starting, and adaptive grids. Using this new framework we can update safe sets by one or more orders of magnitude faster than prior work, making this technique practical for many realistic systems. We demonstrate our results on simulated 2D and 10D near-hover quadcopters operating in a windy environment.

2021 IEEE International Conference on Robotics and Automation (ICRA)


A Review of Verification and Validation for Space Autonomous Systems

Abstract: The deployment of hardware (e.g., robots, satellites, etc.) to space is a costly and complex endeavor. It is of extreme importance that on-board systems are verified and validated through a variety of verification and validation techniques, especially in the case of autonomous systems. In this paper, we discuss a number of approaches from the literature that are relevant or directly applied to the verification and validation of systems in space, with an emphasis on autonomy. Despite advances in individual verification and validation techniques, there is still a lack of approaches that aim to combine different forms of verification in order to obtain system-wide verification of modular autonomous systems. This systematic review of the literature includes the current advances in the latest approaches using formal methods for static verification (model checking and theorem proving) and runtime verification, the progress achieved so far in the verification of machine learning, an overview of the landscape in software testing, and the importance of performing compositional verification in modular systems. In particular, we focus on reporting the use of these techniques for the verification and validation of systems in space with an emphasis on autonomy, as well as more general techniques (such as in the aeronautical domain) that have been shown to have potential value in the verification and validation of autonomous systems in space.


Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

Abstract: A novel modelling paradigm for online diagnostics and prognostics for autonomous systems is presented. A model for the autonomous system being diagnosed is designed using a logic-based formalism. The model supports the run-time ability to verify that the autonomous system is safe and reliable for operation within a dynamic environment. The paradigm is based on the philosophy that there are different types of semantic relationships between the states of different parts of the system. A finite state automaton is devised for each sensed component and some of the non-sensed components. To capture the interdependencies of components within such a complex robotic platform, automatons were related to each other by semantic relationships. Modality was utilised by the formalism to abstract the relationships and to add measures for the possibility and uncertainty of the relationships. The complexity of the model was analysed to evaluate its scalability and applicability to other systems. The results demonstrate that the complexity is not linear and a computational time of 10 ms was required to achieve run-time diagnostics for 2200 KB of knowledge for complex system interdependences. The ability to detect and mitigate hardware related failures was demonstrated within a confined space autonomous operation. Our findings provide evidence of the applicability of our approach for the significant challenge of run-time safety compliance and reliability in autonomous systems.


Meaningful Human Control over Autonomous Systems: A Philosophical Account

Abstract: Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these concerns, the principle of “meaningful human control” has been introduced in the legal–political debate; according to this principle, humans not computers and their algorithms should ultimately remain in control of, and thus morally responsible for, relevant decisions about (lethal) military operations. However, policy-makers and technical designers lack a detailed theory of what “meaningful human control” exactly means. In this paper, we lay the foundation of a philosophical account of meaningful human control, based on the concept of “guidance control” as elaborated in the philosophical debate on free will and moral responsibility. Following the ideals of “Responsible Innovation” and “Value-sensitive Design,” our account of meaningful human control is cast in the form of design requirements. We identify two general necessary conditions to be satisfied for an autonomous system to remain under meaningful human control: first, a “tracking” condition, according to which the system should be able to respond to both the relevant moral reasons of the humans designing and deploying the system and the relevant facts in the environment in which the system operates; second, a “tracing” condition, according to which the system should be designed in such a way as to grant the possibility to always trace back the outcome of its operations to at least one human along the chain of design and operation. As we think that meaningful human control can be one of the central notions in ethics of robotics and AI, in the last part of the paper, we start exploring the implications of our account for the design and use of non-military autonomous systems, for instance, self-driving cars.


A Systematic Literature Review of Decision-Making and Control Systems for Autonomous and Social Robots

Abstract: In the last years, considerable research has been carried out to develop robots that can improve our quality of life during tedious and challenging tasks. In these contexts, robots operating without human supervision open many possibilities to assist people in their daily activities. When autonomous robots collaborate with humans, social skills are necessary for adequate communication and cooperation. Considering these facts, endowing autonomous and social robots with decision-making and control models is critical for appropriately fulfiling their initial goals. This manuscript presents a systematic review of the evolution of decision-making systems and control architectures for autonomous and social robots in the last three decades. These architectures have been incorporating new methods based on biologically inspired models and Machine Learning to enhance these systems’ possibilities to developed societies. The review explores the most novel advances in each application area, comparing their most essential features. Additionally, we describe the current challenges of software architecture devoted to action selection, an analysis not provided in similar reviews of behavioural models for autonomous and social robots. Finally, we present the future directions that these systems can take in the future.

International Journal of Social Robotics


Learning robust autonomous navigation and locomotion for wheeled-legged robots

Abstract: Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots, necessitating innovative solutions for locomotion and navigation. These challenges include the need for adaptive locomotion across varied terrains and the ability to navigate efficiently around complex dynamic obstacles. This work introduces a fully integrated system comprising adaptive locomotion control, mobility-aware local navigation planning, and large-scale path planning within the city. Using model-free reinforcement learning (RL) techniques and privileged learning, we developed a versatile locomotion controller. This controller achieves efficient and robust locomotion over various rough terrains, facilitated by smooth transitions between walking and driving modes. It is tightly integrated with a learned navigation controller through a hierarchical RL framework, enabling effective navigation through challenging terrain and various obstacles at high speed. Our controllers are integrated into a large-scale urban navigation system and validated by autonomous, kilometer-scale navigation missions conducted in Zurich, Switzerland, and Seville, Spain. These missions demonstrate the system’s robustness and adaptability, underscoring the importance of integrated control systems in achieving seamless navigation in complex environments. Our findings support the feasibility of wheeled-legged robots and hierarchical RL for autonomous navigation, with implications for last-mile delivery and beyond. Data-driven approaches enable efficient large-scale autonomous navigation of wheeled-legged robots in urban environments. Editor’s summary Last-mile deliveries in urban areas lead to increasing traffic problems and supply chain issues. By converting to robotic deliveries, routes can move from the street to alternate pathways, but traditional legged robots lack the necessary efficiency and battery life. By augmenting a legged robot with wheels, Lee et al. used hybrid wheeled-legged locomotion to improve the cost of transport while rolling on flat surfaces yet still allowing for legged navigation over obstacles like stairs. Using various reinforcement learning techniques, the robot was trained to smoothly transition between walking and driving modes and to navigate challenging terrain and dynamic obstacles including pedestrians. The robot was tested for large-scale navigation through an autonomous trek of more than 10 kilometers in Zurich, Switzerland, and Seville, Spain. The hybrid wheeled-legged platform successfully addressed many challenges associated with robotic urban mobility. —Melisa Yashinski


Data-Driven Predictive Control for Autonomous Systems

Abstract: In autonomous systems, the ability to make forecasts and cope with uncertain predictions is synonymous with intelligence. Model predictive control (MPC) is an established control methodology that systematically uses forecasts to compute real-time optimal control decisions. In MPC, at each time step an optimization problem is solved over a moving horizon. The objective is to find a control policy that minimizes a predicted performance index while satisfying operating constraints. Uncertainty in MPC is handled by optimizing over multiple uncertain forecasts. In this case, performance index and operating constraints take the form of functions defined over a probability space, and the resulting technique is called stochastic MPC. Our research over the past 10 years has focused on predictive control design methods that systematically handle uncertain forecasts in autonomous and semiautonomous systems. In the first part of this article, we present an overview of the approach we use, its main advantages, and its challenges. In the second part, we present our most recent results on data-driven predictive control. We show how to use data to efficiently formulate stochastic MPC problems and autonomously improve performance in repetitive tasks. The proposed framework is able to handle a large set of predicted scenarios in real time and learn from historical data.


Formal verification of ethical choices in autonomous systems

Abstract: Autonomous systems such as unmanned vehicles are beginning to operate within society. All participants in society are required to follow specific regulations and laws. An autonomous system cannot be an exception. Inevitably an autonomous system will find itself in a situation in which it needs to not only choose to obey a rule or not, but also make a complex ethical decision. However, there exists no obvious way to implement the human understanding of ethical behaviour in computers. Even if we enable autonomous systems to distinguish between more and less ethical alternatives, how can we be sure that they would choose right? We consider autonomous systems with a hybrid architecture in which the highest level of reasoning is executed by a rational (BDI) agent. For such a system, formal verification has been used successfully to prove that specific rules of behaviour are observed when making decisions. We propose a theoretical framework for ethical plan selection that can be formally verified. We implement a rational agent that incorporates a given ethical policy in its plan selection and show that we can formally verify that the agent chooses to execute, to the best of its beliefs, the most ethical available plan.


A survey of deep learning techniques for autonomous driving

Abstract: The last decade witnessed increasingly rapid progress in self‐driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence (AI). The objective of this paper is to survey the current state‐of‐the‐art on deep learning technologies used in autonomous driving. We start by presenting AI‐based self‐driving architectures, convolutional and recurrent neural networks, as well as the deep reinforcement learning paradigm. These methodologies form a base for the surveyed driving scene perception, path planning, behavior arbitration, and motion control algorithms. We investigate both the modular perception‐planning‐action pipeline, where each module is built using deep learning methods, as well as End2End systems, which directly map sensory information to steering commands. Additionally, we tackle current challenges encountered in designing AI architectures for autonomous driving, such as their safety, training data sources, and computational hardware. The comparison presented in this survey helps gain insight into the strengths and limitations of deep learning and AI approaches for autonomous driving and assist with design choices.


Lidar Point Cloud Compression, Processing and Learning for Autonomous Driving

Abstract: As technology advances, cities are getting smarter. Smart mobility is the key element in smart cities and Autonomous Driving (AV) are an essential part of smart mobility. However, the vulnerability of unmanned vehicles can also affect the value of life and human safety. In this paper, we provide a comprehensive analysis of 3D Point-Cloud (3DPC) processing and learning in terms of development, advancement, and performance for the AV system. 3DPC has recently attracted growing interest due to its extensive applications, such as autonomous driving, computer vision, and robotics. Light Detection and Ranging Sensors (LiDAR) is one of the most significant sensors in AV, which collects 3DPC that can accurately capture the outer surfaces of scenes and objects. Learning and processing tools in the 3DPC are essential for creating maps, perceptions, and localization devices in AV. The intention behind 3DPC learning and practical processing tools is to be considered the most essential modules to create, locate, and perceive maps in an AV system. The goal of the study is to know “what has been tested in AV system so far and what is necessary to make it safer and more practical in AV system.” We also provide insights into the necessary open problems that are required to be resolved in the future.

IEEE transactions on intelligent transportation systems (Print)

IEEE Transactions on Intelligent Transportation Systems


Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

Abstract: In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvesting of sweet peppers. Initial field trials in protected cropping environments, with two cultivar, demonstrate the efficacy of this approach achieving a 46% success rate for unmodified crop, and 58% for modified crop. Furthermore, for the more favourable cultivar we were also able to detach 90% of sweet peppers, indicating that improvements in the grasping success rate would result in greatly improved harvesting performance.


Towards autonomous selective harvesting: A review of robot perception, robot design, motion planning and control

Abstract: This paper provides an overview of the current state‐of‐the‐art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labor costs, and minimize wastage by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning, and control. The paper also discusses the potential benefits of integrating artificial intelligence and soft robots and data‐driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.


TUM autonomous motorsport: An autonomous racing software for the Indy Autonomous Challenge

Abstract: For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems, like, disk brakes or rearview mirrors. Autonomous racing series such as Roborace, F1Tenth, or the Indy Autonomous Challenge (IAC) are envisioned as playing a similar role within the autonomous vehicle sector, serving as a proving ground for new technology at the limits of the autonomous systems capabilities. This paper outlines the software stack and approach of the TUM Autonomous Motorsport team for their participation in the IAC, which holds two competitions: A single‐vehicle competition on the Indianapolis Motor Speedway and a passing competition at the Las Vegas Motor Speedway. Nine university teams used an identical vehicle platform: A modified Indy Lights chassis equipped with sensors, a computing platform, and actuators. All the teams developed different algorithms for object detection, localization, planning, prediction, and control of the race cars. The team from Technical University of Munich (TUM) placed first in Indianapolis and secured second place in Las Vegas. During the final of the passing competition, the TUM team reached speeds and accelerations close to the limit of the vehicle, peaking at around 270 km h − 1 $270\,\text{km\hspace{0.05em}h}{}^{-1}$ and 28 m s − 2 $28\,ms{}^{-2}$ . This paper will present details of the vehicle hardware platform, the developed algorithms, and the workflow to test and enhance the software applied during the 2‐year project. We derive deep insights into the autonomous vehicle's behavior at high speed and high acceleration by providing a detailed competition analysis. On the basis of this, we deduce a list of lessons learned and provide insights on promising areas of future work based on the real‐world evaluation of the displayed concepts.


A Survey of Deep RL and IL for Autonomous Driving Policy Learning

Abstract: Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies are crucial to the realization of safe, efficient and harmonious driving behaviors, where AD agents still face substantial challenges in complex scenarios. Due to their successful application in fields such as robotics and video games, the use of deep reinforcement learning (DRL) and deep imitation learning (DIL) techniques to derive AD policies have witnessed vast research efforts in recent years. This paper is a comprehensive survey of this body of work, which is conducted at three levels: First, a taxonomy of the literature studies is constructed from the system perspective, among which five modes of integration of DRL/DIL models into an AD architecture are identified. Second, the formulations of DRL/DIL models for conducting specified AD tasks are comprehensively reviewed, where various designs on the model state and action spaces and the reinforcement learning rewards are covered. Finally, an in-depth review is conducted on how the critical issues of AD applications regarding driving safety, interaction with other traffic participants and uncertainty of the environment are addressed by the DRL/DIL models. To the best of our knowledge, this is the first survey to focus on AD policy learning using DRL/DIL, which is addressed simultaneously from the system, task-driven and problem-driven perspectives. We share and discuss findings, which may lead to the investigation of various topics in the future.


An Autonomous Navigation Framework for Holonomic Mobile Robots in Confined Agricultural Environments

Abstract: Due to the accelerated growth of the world’s population, food security and sustainable agricultural practices have become essential. The incorporation of Artificial Intelligence (AI)-enabled robotic systems in cultivation, especially in greenhouse environments, represents a promising solution, where the utilization of the confined infrastructure improves the efficacy and accuracy of numerous agricultural duties. In this paper, we present a comprehensive autonomous navigation architecture for holonomic mobile robots in greenhouses. Our approach utilizes the heating system rails to navigate through the crop rows using a single stereo camera for perception and a LiDAR sensor for accurate distance measurements. A finite state machine orchestrates the sequence of required actions, enabling fully automated task execution, while semantic segmentation provides essential cognition to the robot. Our approach has been evaluated in a real-world greenhouse using a custom-made robotic platform, showing its overall efficacy for automated inspection tasks in greenhouses.


Range Image-based LiDAR Localization for Autonomous Vehicles

Abstract: Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a large-scale outdoor environment represented by a triangular mesh. We use the Poisson surface reconstruction to generate the mesh-based map representation. Based on the range images generated from the current LiDAR scan and the synthetic rendered views from the mesh-based map, we propose a new observation model and integrate it into a Monte Carlo localization framework, which achieves better localization performance and generalizes well to different environments. We test the proposed localization approach on multiple datasets collected in different environments with different LiDAR scanners. The experimental results show that our method can reliably and accurately localize a mobile system in different environments and operate online at the LiDAR sensor frame rate to track the vehicle pose.


Advanced planning for autonomous vehicles using reinforcement learning and deep inverse reinforcement learning

Abstract: Abstract Autonomous vehicles promise to improve traffic safety while, at the same time, increase fuel efficiency and reduce congestion. They represent the main trend in future intelligent transportation systems. This paper concentrates on the planning problem of autonomous vehicles in traffic. We model the interaction between the autonomous vehicle and the environment as a stochastic Markov decision process (MDP) and consider the driving style of an expert driver as the target to be learned. The road geometry is taken into consideration in the MDP model in order to incorporate more diverse driving styles. The desired, expert-like driving behavior of the autonomous vehicle is obtained as follows: First, we design the reward function of the corresponding MDP and determine the optimal driving strategy for the autonomous vehicle using reinforcement learning techniques. Second, we collect a number of demonstrations from an expert driver and learn the optimal driving strategy based on data using inverse reinforcement learning. The unknown reward function of the expert driver is approximated using a deep neural-network (DNN). We clarify and validate the application of the maximum entropy principle (MEP) to learn the DNN reward function, and provide the necessary derivations for using the maximum entropy principle to learn a parameterized feature (reward) function. Simulated results demonstrate the desired driving behaviors of an autonomous vehicle using both the reinforcement learning and inverse reinforcement learning techniques.


Benchmarking Reinforcement Learning Techniques for Autonomous Navigation

Abstract: Deep reinforcement learning (RL) has brought many successes for autonomous robot navigation. However, there still exists important limitations that prevent real-world use of RL-based navigation systems. For example, most learning approaches lack safety guarantees; and learned navigation systems may not generalize well to unseen environments. Despite a variety of recent learning techniques to tackle these challenges in general, a lack of an open-source benchmark and reproducible learning methods specifically for autonomous navigation makes it difficult for roboticists to choose what learning methods to use for their mobile robots and for learning researchers to identify current shortcomings of general learning methods for autonomous navigation. In this paper, we identify four major desiderata of applying deep RL approaches for autonomous navigation: (D1) reasoning under uncertainty, (D2) safety, (D3) learning from limited trial-and-error data, and (D4) generalization to diverse and novel environments. Then, we explore four major classes of learning techniques with the purpose of achieving one or more of the four desiderata: memory-based neural network architectures (D1), safe RL (D2), model-based RL (D2, D3), and domain randomization (D4). By deploying these learning techniques in a new open-source large-scale navigation benchmark and real-world environments, we perform a comprehensive study aimed at establishing to what extent can these techniques achieve these desiderata for RL-based navigation systems.

2023 IEEE International Conference on Robotics and Automation (ICRA)


Planning for Autonomous Cars that Leverage Effects on Human Actions

Abstract: —Traditionally, autonomous cars make predictions about other drivers’ future trajectories, and plan to stay out of their way. This tends to result in defensive and opaque behaviors. Our key insight is that an autonomous car’s actions will actually affect what other cars will do in response, whether the car is aware of it or not. Our thesis is that we can leverage these responses to plan more efﬁcient and communicative behaviors. We model the interaction between an autonomous car and a human driver as a dynamical system, in which the robot’s actions have immediate consequences on the state of the car, but also on human actions. We model these consequences by approximating the human as an optimal planner, with a reward function that we acquire through Inverse Reinforcement Learning. When the robot plans with this reward function in this dynamical system, it comes up with actions that purposefully change human state: it merges in front of a human to get them to slow down or to reach its own goal faster; it blocks two lanes to get them to switch to a third lane; or it backs up slightly at an intersection to get them to proceed ﬁrst. Such behaviors arise from the optimization, without relying on hand-coded signaling strategies and without ever explicitly modeling communication. Our user study results suggest that the robot is indeed capable of eliciting desired changes in human state by planning using this dynamical system.

Robotics: Science and Systems Conference


Dexterous Manipulation from Images: Autonomous Real-World RL via Substep Guidance

Abstract: Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning offer an appealing choice for such settings, as they can enable robots to learn to delicately balance contact forces and dexterously reposition objects without strong modeling assumptions. However, running reinforcement learning on real-world dexterous manipulation systems often requires significant manual engineering. This negates the benefits of autonomous data collection and ease of use that reinforcement learning should in principle provide. In this paper, we describe a system for vision-based dexterous manipulation that provides a “programming-free” approach for users to define new tasks and enable robots with complex multi-fingered hands to learn to perform them through interaction. The core principle under-lying our system is that, in a vision-based setting, users should be able to provide high-level intermediate supervision that circumvents challenges in teleoperation or kinesthetic teaching which allows a robot to not only learn a task efficiently but also to autonomously practice. Our system includes a framework for users to define a final task and intermediate sub-tasks with image examples, a reinforcement learning procedure that learns the task autonomously without interventions, and experimental results with a four-finger robotic hand learning multi-stage object manipulation tasks directly in the real world, without simulation, manual modeling, or reward engineering.


Agile Autonomous Driving using End-to-End Deep Imitation Learning

Abstract: We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy to map raw, high-dimensional observations to continuous steering and throttle commands. Compared with recent approaches to similar tasks, our method requires neither state estimation nor on-the-fly planning to navigate the vehicle. Our approach relies on, and experimentally validates, recent imitation learning theory. Empirically, we show that policies trained with online imitation learning overcome well-known challenges related to covariate shift and generalize better than policies trained with batch imitation learning. Built on these insights, our autonomous driving system demonstrates successful high-speed off-road driving, matching the state-of-the-art performance.