{"id":"https://openalex.org/W4407690542","doi":"https://doi.org/10.1109/tro.2025.3543298","title":"Fast Ergodic Search With Kernel Functions","display_name":"Fast Ergodic Search With Kernel Functions","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407690542","doi":"https://doi.org/10.1109/tro.2025.3543298"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3543298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543298","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101811060","display_name":"Muchen Sun","orcid":"https://orcid.org/0000-0002-3704-6315"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Max Muchen Sun","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-3704-6315","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094077038","display_name":"Ayush Gaggar","orcid":"https://orcid.org/0000-0002-8028-6664"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayush Gaggar","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-8028-6664","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005558232","display_name":"Peter Trautman","orcid":"https://orcid.org/0000-0002-9793-7697"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pete Trautman","raw_affiliation_strings":["Honda Research Institute, San Jose, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9793-7697","affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2262-8176","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101811060"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":4.3465,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93190693,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"1841","last_page":"1860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ergodic-theory","display_name":"Ergodic theory","score":0.5610947608947754},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.5530534386634827},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5026640892028809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3942061960697174},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3429241180419922},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3224724531173706},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.1617394983768463},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.1171826422214508}],"concepts":[{"id":"https://openalex.org/C122044880","wikidata":"https://www.wikidata.org/wiki/Q5498822","display_name":"Ergodic theory","level":2,"score":0.5610947608947754},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.5530534386634827},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5026640892028809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3942061960697174},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3429241180419922},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3224724531173706},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.1617394983768463},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.1171826422214508}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3543298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3543298","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7991929989","display_name":null,"funder_award_id":"HRI-001479","funder_id":"https://openalex.org/F4320318799","funder_display_name":"Honda Research Institute, USA"},{"id":"https://openalex.org/G974602817","display_name":null,"funder_award_id":"CNS-2237576","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1988591348","https://openalex.org/W1988888548","https://openalex.org/W1994330305","https://openalex.org/W1995201049","https://openalex.org/W1999484566","https://openalex.org/W2011772686","https://openalex.org/W2049424664","https://openalex.org/W2061341273","https://openalex.org/W2083245347","https://openalex.org/W2101341777","https://openalex.org/W2142332594","https://openalex.org/W2157357823","https://openalex.org/W2167046788","https://openalex.org/W2283600647","https://openalex.org/W2416725499","https://openalex.org/W2495681058","https://openalex.org/W2501873590","https://openalex.org/W2772449134","https://openalex.org/W2790753177","https://openalex.org/W2807778117","https://openalex.org/W2902093375","https://openalex.org/W2956015669","https://openalex.org/W2962807522","https://openalex.org/W2963895143","https://openalex.org/W2968589974","https://openalex.org/W2994446013","https://openalex.org/W3000625188","https://openalex.org/W3037129921","https://openalex.org/W3087515705","https://openalex.org/W3097963854","https://openalex.org/W3118951974","https://openalex.org/W3120969902","https://openalex.org/W3128528928","https://openalex.org/W3174364619","https://openalex.org/W3201276701","https://openalex.org/W3205478157","https://openalex.org/W3217525023","https://openalex.org/W4221167977","https://openalex.org/W4230278731","https://openalex.org/W4283784196","https://openalex.org/W4285491122","https://openalex.org/W4323527641","https://openalex.org/W4323539420","https://openalex.org/W4324044667","https://openalex.org/W4381416043","https://openalex.org/W4383108399","https://openalex.org/W4383108587","https://openalex.org/W4385430612","https://openalex.org/W4387461179","https://openalex.org/W4388903500","https://openalex.org/W4399469378","https://openalex.org/W6675999342","https://openalex.org/W6847296024"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2390585021","https://openalex.org/W412641959","https://openalex.org/W50969306","https://openalex.org/W4292101436","https://openalex.org/W2341040961","https://openalex.org/W4287207389","https://openalex.org/W2779828239","https://openalex.org/W3154976382","https://openalex.org/W2044004505"],"abstract_inverted_index":{"Ergodic":[0],"search":[1,15,37],"enables":[2],"optimal":[3,80],"exploration":[4],"of":[5,13,98,127,147],"an":[6,78],"information":[7,160],"distribution":[8,138],"with":[9,66,86,111],"guaranteed":[10],"asymptotic":[11,145],"coverage":[12,122],"the":[14,67,87,102,108,118,125,136,144,148,154,158,166],"space.":[16,30],"However,":[17],"current":[18],"methods":[19],"typically":[20],"have":[21],"exponential":[22],"computational":[23],"complexity":[24],"and":[25,71,129],"are":[26,41],"limited":[27],"to":[28,57],"Euclidean":[29,55],"We":[31,60,116],"introduce":[32],"a":[33,48,112,121,131],"computationally":[34],"efficient":[35],"ergodic":[36,50,69,140],"method.":[38,104],"Our":[39],"contributions":[40],"two-fold":[42],"as":[43,120,135,153],"follows:":[44],"First,":[45],"we":[46,76,106],"develop":[47],"kernel-based":[49],"metric,":[51],"generalizing":[52],"it":[53],"from":[54],"space":[56,126],"Lie":[58],"groups.":[59],"prove":[61],"this":[62],"metric":[63,70],"is":[64,95,163],"consistent":[65],"exact":[68],"ensures":[72],"linear":[73],"complexity.":[74],"Second,":[75],"derive":[77],"iterative":[79],"control":[81],"algorithm":[82,110],"for":[83,139],"trajectory":[84],"optimization":[85],"kernel":[88],"metric.":[89],"Numerical":[90],"benchmarks":[91],"show":[92],"our":[93],"method":[94],"two":[96],"orders":[97],"magnitude":[99],"faster":[100],"than":[101],"state-of-the-art":[103],"Finally,":[105],"demonstrate":[107],"proposed":[109],"peg-in-hole":[113,149],"insertion":[114],"task.":[115],"formulate":[117],"problem":[119,150],"task":[123],"in":[124,165],"SE(3)":[128],"use":[130],"30-s-long":[132],"human":[133],"demonstration":[134],"prior":[137,159],"coverage.":[141],"Ergodicity":[142],"guarantees":[143],"solution":[146,155],"so":[151],"long":[152],"resides":[156],"within":[157],"distribution,":[161],"which":[162],"seen":[164],"100%":[167],"success":[168],"rate.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
