We improve the Solovay-Kitaev theorem and algorithm for a general finite, inverse-closed generating set acting on a qudit. Prior versions of the algorithm can efficiently find a word of length $O((\log 1/\epsilon)^{3+\delta})$ to approximate an arbitrary target gate to within $\epsilon$. Using two new ideas, each of which reduces the exponent separately, our new bound on the world length is $O((\log 1/\epsilon)^{1.44042\ldots+\delta})$. Our result holds more generally for any finite set that densely generates any connected, semisimple real Lie group, with an extra length term in the non-compact case to reach group elements far away from the identity.

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