{"id":"https://openalex.org/W4380088685","doi":"https://doi.org/10.1145/3603716","title":"Covariance Matrix Adaptation Evolutionary Strategy with Worst-Case Ranking Approximation for Min\u2013Max Optimization and Its Application to Berthing Control Tasks","display_name":"Covariance Matrix Adaptation Evolutionary Strategy with Worst-Case Ranking Approximation for Min\u2013Max Optimization and Its Application to Berthing Control Tasks","publication_year":2023,"publication_date":"2023-06-09","ids":{"openalex":"https://openalex.org/W4380088685","doi":"https://doi.org/10.1145/3603716"},"language":"en","primary_location":{"id":"doi:10.1145/3603716","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3603716","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3603716","source":{"id":"https://openalex.org/S4210221532","display_name":"ACM Transactions on Evolutionary Learning and Optimization","issn_l":"2688-299X","issn":["2688-299X","2688-3007"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Evolutionary Learning and Optimization","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3603716","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023697905","display_name":"Atsuhiro Miyagi","orcid":"https://orcid.org/0000-0002-7729-8496"},"institutions":[{"id":"https://openalex.org/I144851764","display_name":"Taisei (Japan)","ror":"https://ror.org/015cafh73","country_code":"JP","type":"company","lineage":["https://openalex.org/I144851764"]},{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuhiro Miyagi","raw_affiliation_strings":["Taisei Corporation and University of Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7729-8496","affiliations":[{"raw_affiliation_string":"Taisei Corporation and University of Tsukuba, Japan","institution_ids":["https://openalex.org/I144851764","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038024990","display_name":"Yoshiki Miyauchi","orcid":"https://orcid.org/0000-0002-5314-8848"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Miyauchi","raw_affiliation_strings":["Osaka University, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5314-8848","affiliations":[{"raw_affiliation_string":"Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047313376","display_name":"Atsuo Maki","orcid":"https://orcid.org/0000-0002-2819-1297"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Maki","raw_affiliation_strings":["Osaka University, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2819-1297","affiliations":[{"raw_affiliation_string":"Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008914720","display_name":"Kazuto Fukuchi","orcid":"https://orcid.org/0000-0003-3895-219X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuto Fukuchi","raw_affiliation_strings":["University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3895-219X","affiliations":[{"raw_affiliation_string":"University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan","institution_ids":["https://openalex.org/I4210126580","https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022139141","display_name":"Jun Sakuma","orcid":"https://orcid.org/0000-0001-5015-3812"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Sakuma","raw_affiliation_strings":["University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5015-3812","affiliations":[{"raw_affiliation_string":"University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan","institution_ids":["https://openalex.org/I4210126580","https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038757231","display_name":"Youhei Akimoto","orcid":"https://orcid.org/0000-0003-2760-8123"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Youhei Akimoto","raw_affiliation_strings":["University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2760-8123","affiliations":[{"raw_affiliation_string":"University of Tsukuba and RIKEN Center for Advanced Intelligence Project, Japan","institution_ids":["https://openalex.org/I4210126580","https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3263,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63449473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"3","issue":"2","first_page":"1","last_page":"32"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9986000061035156,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9986000061035156,"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/T12401","display_name":"Scheduling and Timetabling Solutions","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/cma-es","display_name":"CMA-ES","score":0.8934094905853271},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.7000319957733154},{"id":"https://openalex.org/keywords/evolution-strategy","display_name":"Evolution strategy","score":0.5557001233100891},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.5378156900405884},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.520786702632904},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5142754912376404},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5110527276992798},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.47832584381103516},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.4719616174697876},{"id":"https://openalex.org/keywords/convex-function","display_name":"Convex function","score":0.47058382630348206},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.46427056193351746},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43188226222991943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42792171239852905},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.37668246030807495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36828476190567017},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.35929960012435913},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.23833978176116943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1345367729663849},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07414522767066956}],"concepts":[{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.8934094905853271},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7000319957733154},{"id":"https://openalex.org/C207002847","wikidata":"https://www.wikidata.org/wiki/Q2912857","display_name":"Evolution strategy","level":3,"score":0.5557001233100891},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.5378156900405884},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.520786702632904},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5142754912376404},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5110527276992798},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.47832584381103516},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.4719616174697876},{"id":"https://openalex.org/C145446738","wikidata":"https://www.wikidata.org/wiki/Q319913","display_name":"Convex function","level":3,"score":0.47058382630348206},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.46427056193351746},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43188226222991943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42792171239852905},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.37668246030807495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36828476190567017},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.35929960012435913},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.23833978176116943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1345367729663849},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07414522767066956},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3603716","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3603716","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3603716","source":{"id":"https://openalex.org/S4210221532","display_name":"ACM Transactions on Evolutionary Learning and Optimization","issn_l":"2688-299X","issn":["2688-299X","2688-3007"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Evolutionary Learning and Optimization","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3603716","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3603716","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3603716","source":{"id":"https://openalex.org/S4210221532","display_name":"ACM Transactions on Evolutionary Learning and Optimization","issn_l":"2688-299X","issn":["2688-299X","2688-3007"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Evolutionary Learning and Optimization","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3523681638","display_name":null,"funder_award_id":"19H04179","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7522481424","display_name":null,"funder_award_id":"22H01701","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4380088685.pdf","grobid_xml":"https://content.openalex.org/works/W4380088685.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W7934506","https://openalex.org/W1820412285","https://openalex.org/W1897475699","https://openalex.org/W1964458192","https://openalex.org/W1973132297","https://openalex.org/W2016178266","https://openalex.org/W2032411249","https://openalex.org/W2036255495","https://openalex.org/W2050079439","https://openalex.org/W2088238688","https://openalex.org/W2097263684","https://openalex.org/W2105963649","https://openalex.org/W2111268478","https://openalex.org/W2112036188","https://openalex.org/W2154469289","https://openalex.org/W2160960847","https://openalex.org/W2169022172","https://openalex.org/W2208154600","https://openalex.org/W2257590933","https://openalex.org/W2321684664","https://openalex.org/W2609367643","https://openalex.org/W2619103847","https://openalex.org/W2788091805","https://openalex.org/W2804824206","https://openalex.org/W2843020461","https://openalex.org/W2946586661","https://openalex.org/W2948927563","https://openalex.org/W2954855017","https://openalex.org/W2956037582","https://openalex.org/W2999905431","https://openalex.org/W3029957720","https://openalex.org/W3035625450","https://openalex.org/W3081737502","https://openalex.org/W3083025901","https://openalex.org/W3087171959","https://openalex.org/W3089107780","https://openalex.org/W3119480732","https://openalex.org/W3154666256","https://openalex.org/W3165480511","https://openalex.org/W3168185438","https://openalex.org/W3169938941","https://openalex.org/W3174365788","https://openalex.org/W3177065897","https://openalex.org/W3177200381","https://openalex.org/W3187506064","https://openalex.org/W3207297452","https://openalex.org/W4226255401","https://openalex.org/W4246518174","https://openalex.org/W4285805168","https://openalex.org/W4310137366"],"related_works":["https://openalex.org/W1492325323","https://openalex.org/W1579744901","https://openalex.org/W2510724351","https://openalex.org/W3087341323","https://openalex.org/W2465356436","https://openalex.org/W2552260697","https://openalex.org/W3119219900","https://openalex.org/W2926551842","https://openalex.org/W2022594112","https://openalex.org/W4211082860"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3],"consider":[4],"a":[5,27,31,56,88,122],"continuous":[6],"min\u2013max":[7],"optimization":[8],"problem":[9,171],"min":[10],"x":[11,42,131],"\u2208":[12,16,47],"\ud835\udd4f":[13],"max":[14,45],"y":[15,21,46,52,133],"\ud835\udd50":[17,48],"f":[18,49],"(":[19,41,50],"x,":[20,51],")":[22,43,53],"whose":[23],"objective":[24,38,119,148],"function":[25,39,120,126,149],"is":[26,121,134,150,164],"black-box.":[28],"We":[29,78,136],"propose":[30],"novel":[32],"approach":[33,112,143,163],"to":[34,153],"minimize":[35],"the":[36,64,102,118,128,138,141,147,161,167],"worst-case":[37,74,83],"F":[40],"=":[44],"directly":[54],"using":[55],"covariance":[57,89],"matrix":[58,90],"adaptation":[59,91],"evolution":[60,92],"strategy":[61,93],"in":[62,166],"which":[63],"rankings":[65],"of":[66,82,140,160],"solution":[67],"candidates":[68],"are":[69],"approximated":[70],"by":[71],"our":[72,110],"proposed":[73,111,142,162],"ranking":[75,84],"approximation":[76,85],"mechanism.":[77],"develop":[79],"two":[80],"variants":[81],"combined":[86],"with":[87,172],"and":[94,127,132],"approximate":[95],"gradient":[96],"ascent":[97],"as":[98],"numerical":[99],"solvers":[100],"for":[101,144],"inner":[103],"maximization":[104],"problem.":[105],"Numerical":[106],"experiments":[107],"show":[108],"that":[109],"outperforms":[113],"several":[114],"existing":[115],"approaches":[116],"when":[117],"smooth":[123,154],"strongly":[124,155],"convex\u2013concave":[125,156],"interaction":[129],"between":[130],"strong.":[135],"investigate":[137],"advantages":[139],"problems":[145],"where":[146],"not":[151],"limited":[152],"functions.":[157],"The":[158],"effectiveness":[159],"demonstrated":[165],"robust":[168],"berthing":[169],"control":[170],"uncertainty.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}