Max Muchen Sun

2 accepted papers

2026

Volumetric Ergodic Control

Jueun Kwon, Max Muchen Sun, Todd Murphey

ICRA 2026poster

Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment through its body and sensors with physical volume. In this wor…

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2025

Flow Matching Ergodic Coverage

Max Muchen Sun, Allison Pinosky, Todd Murphey

RSS 2025poster

Ergodic coverage provides a robust framework for generating exploratory behaviors in embodied agents by aligning the spatial distribution of an agent’s trajectory with a target distribution. However, solving this optimization problem is challenging due to the need to minimize the difference between…

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