In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently navigate in cluttered indoor environments. We formulate Extended Kalman filters for emitter location estimation in cases where the signal is received in line-of-sight or after reflections. We then propose to plan motion trajectories based on belief-space dynamics in order to minimize the uncertainty of the position estimates. The associated non-linear optimization problem is solved by a state-of-the-art constrained iLQR solver. In particular, we propose a method that can handle a large number of obstacles (∼ 300) with reasonable computation times. We validate the approach in an extensive set of simulations. We show that our estimators can help increase navigation success rate and that planning to reduce estimation uncertainty can improve the overall task completion speed.

Machine learning as a service has given raise to privacy concerns surrounding clients' data and providers' models and has catalyzed research in private inference (PI): methods to process inferences without disclosing inputs. Recently, researchers have adapted cryptographic techniques to show PI is possible, however all solutions increase inference latency beyond practical limits. This paper makes the observation that existing models are ill-suited for PI and proposes a novel NAS method, named CryptoNAS, for finding and tailoring models to the needs of PI. The key insight is that in PI operator latency cost are inverted: non-linear operations (e.g., ReLU) dominate latency, while linear layers become effectively free. We develop the idea of a ReLU budget as a proxy for inference latency and use CryptoNAS to build models that maximize accuracy within a given budget. CryptoNAS improves accuracy by 3.4% and latency by 2.4x over the state-of-the-art.