{"id":"https://openalex.org/W4413925862","doi":"https://doi.org/10.1109/tro.2025.3605251","title":"RUMI: Rummaging Using Mutual Information","display_name":"RUMI: Rummaging Using Mutual Information","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413925862","doi":"https://doi.org/10.1109/tro.2025.3605251"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3605251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3605251","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5101458851","display_name":"Sheng Zhong","orcid":"https://orcid.org/0000-0002-8658-3061"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sheng Zhong","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","Department of Robotics, University of Michigan, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-8658-3061","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, MI, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031338070","display_name":"Nima Fazeli","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nima Fazeli","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","Department of Robotics, University of Michigan, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-0834-4767","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, MI, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA","Department of Robotics, University of Michigan, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9712-109X","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, MI, USA","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1325,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.95142826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"41","issue":null,"first_page":"5431","last_page":"5450"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11147","display_name":"Misinformation and Its Impacts","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11147","display_name":"Misinformation and Its Impacts","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.7581932544708252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5905970335006714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41511720418930054}],"concepts":[{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.7581932544708252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5905970335006714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41511720418930054}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3605251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3605251","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/G2554158788","display_name":null,"funder_award_id":"N00014-24-1-2036","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1514716220","https://openalex.org/W1889580255","https://openalex.org/W2016130656","https://openalex.org/W2040196349","https://openalex.org/W2048971218","https://openalex.org/W2101024363","https://openalex.org/W2107153006","https://openalex.org/W2115669646","https://openalex.org/W2142423373","https://openalex.org/W2143964548","https://openalex.org/W2157813244","https://openalex.org/W2196524641","https://openalex.org/W2198547365","https://openalex.org/W2299529128","https://openalex.org/W2337977475","https://openalex.org/W2462548332","https://openalex.org/W2551421619","https://openalex.org/W2561199234","https://openalex.org/W2566638765","https://openalex.org/W2584986912","https://openalex.org/W2601243251","https://openalex.org/W2603737562","https://openalex.org/W2772341554","https://openalex.org/W2784112303","https://openalex.org/W2802892321","https://openalex.org/W2967364851","https://openalex.org/W2968672950","https://openalex.org/W3003653881","https://openalex.org/W3016926102","https://openalex.org/W3131168342","https://openalex.org/W3133557228","https://openalex.org/W4210414408","https://openalex.org/W4213073493","https://openalex.org/W4213422176","https://openalex.org/W4231517135","https://openalex.org/W4294310659","https://openalex.org/W4306248542","https://openalex.org/W4385430565","https://openalex.org/W4401415483"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2466816617","https://openalex.org/W1970834875","https://openalex.org/W842936808","https://openalex.org/W3174028392","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"Rummaging":[3],"Using":[4],"Mutual":[5],"Information":[6],"(RUMI),":[7],"a":[8,24,88,104,111,120,126,141],"method":[9],"for":[10,48,130],"online":[11],"generation":[12],"of":[13,23,69],"robot":[14,46],"action":[15,49],"sequences":[16],"to":[17,92,157],"gather":[18],"information":[19,39,68,83,136],"about":[20],"the":[21,41,59,66,94,97,116],"pose":[22,43,62,117,132],"known":[25],"movable":[26],"object":[27,42,61,95,131],"in":[28,74,119,150],"visually-occluded":[29],"environments.":[30],"Focusing":[31],"on":[32,78],"contact-rich":[33],"rummaging,":[34],"our":[35],"approach":[36],"leverages":[37],"mutual":[38,67],"between":[40],"distribution":[44,63,118],"and":[45,64,87,140,153],"trajectory":[47],"planning.":[50],"From":[51],"an":[52,82,134],"observed":[53],"partial":[54],"point":[55],"cloud,":[56],"RUMI":[57,146],"deduces":[58],"compatible":[60],"approximates":[65],"it":[70],"with":[71,110],"workspace":[72],"occupancy":[73],"real":[75,154],"time.":[76],"Based":[77],"this,":[79],"we":[80],"develop":[81],"gain":[84,137],"cost":[85,90],"function":[86,91],"reachability":[89],"keep":[93],"within":[96],"robot's":[98],"reach.":[99],"These":[100],"are":[101],"integrated":[102],"into":[103],"model":[105],"predictive":[106],"control":[107,144],"(MPC)":[108],"framework":[109,129],"stochastic":[112],"dynamics":[113],"model,":[114],"updating":[115],"closed":[121],"loop.":[122],"Key":[123],"contributions":[124],"include":[125],"new":[127],"belief":[128],"estimation,":[133],"efficient":[135],"computation":[138],"strategy,":[139],"robust":[142],"MPC-based":[143],"scheme.":[145],"demonstrates":[147],"superior":[148],"performance":[149],"both":[151],"simulated":[152],"tasks":[155],"compared":[156],"baseline":[158],"methods.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}