Emanuel Todorov - Publications

Affiliations: 
University of California, San Diego, La Jolla, CA 
Area:
Neural control of movement
Website:
http://cogsci.ucsd.edu/~todorov/

102 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2016 Xu Z, Todorov E. Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration Proceedings - Ieee International Conference On Robotics and Automation. 2016: 3485-3492. DOI: 10.1109/ICRA.2016.7487528  1
2016 Kumar V, Todorov E, Levine S. Optimal control with learned local models: Application to dexterous manipulation Proceedings - Ieee International Conference On Robotics and Automation. 2016: 378-383. DOI: 10.1109/ICRA.2016.7487156  1
2015 Dvijotham K, Todorov E, Fazel M. Convex structured controller design in finite horizon Ieee Transactions On Control of Network Systems. 2: 1-10. DOI: 10.1109/TCNS.2014.2367359  1
2015 Mordatch I, Lowrey K, Todorov E. Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids Ieee International Conference On Intelligent Robots and Systems. 2015: 5307-5314. DOI: 10.1109/IROS.2015.7354126  1
2015 Koenemann J, Del Prete A, Tassa Y, Todorov E, Stasse O, Bennewitz M, Mansard N. Whole-body model-predictive control applied to the HRP-2 humanoid Ieee International Conference On Intelligent Robots and Systems. 2015: 3346-3351. DOI: 10.1109/IROS.2015.7353843  1
2015 Erez T, Tassa Y, Todorov E. Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX Proceedings - Ieee International Conference On Robotics and Automation. 2015: 4397-4404. DOI: 10.1109/ICRA.2015.7139807  1
2015 Kolev S, Todorov E. Physically consistent state estimation and system identification for contacts Ieee-Ras International Conference On Humanoid Robots. 2015: 1036-1043. DOI: 10.1109/HUMANOIDS.2015.7363481  1
2015 Kumar V, Todorov E. MuJoCo HAPTIX: A virtual reality system for hand manipulation Ieee-Ras International Conference On Humanoid Robots. 2015: 657-663. DOI: 10.1109/HUMANOIDS.2015.7363441  1
2015 Wu T, Tassa Y, Kumar V, Movellan J, Todorov E. STAC: Simultaneous tracking and calibration Ieee-Ras International Conference On Humanoid Robots. 2015: 469-476. DOI: 10.1109/HUMANOIDS.2013.7030016  1
2015 Xu Z, Kumar V, Todorov E. A low-cost and modular, 20-DOF anthropomorphic robotic hand: Design, actuation and modeling Ieee-Ras International Conference On Humanoid Robots. 2015: 368-375. DOI: 10.1109/HUMANOIDS.2013.7030001  1
2015 Erez T, Lowrey K, Tassa Y, Kumar V, Kolev S, Todorov E. An integrated system for real-time model predictive control of humanoid robots Ieee-Ras International Conference On Humanoid Robots. 2015: 292-299. DOI: 10.1109/HUMANOIDS.2013.7029990  1
2015 Dvijotham K, Fazel M, Todorov E. Convex risk averse control design Proceedings of the Ieee Conference On Decision and Control. 2015: 4020-4025. DOI: 10.1109/CDC.2014.7040014  1
2015 Mordatch I, Lowrey K, Andrew G, Popovic Z, Todorov E. Interactive control of diverse complex characters with neural networks Advances in Neural Information Processing Systems. 2015: 3132-3140.  1
2014 Lowrey K, Kolev S, Tassa Y, Erez T, Todorov E. Physically-consistent sensor fusion in contact-rich behaviors Ieee International Conference On Intelligent Robots and Systems. 1656-1662. DOI: 10.1109/IROS.2014.6942777  1
2014 Kumar V, Tassa Y, Erez T, Todorov E. Real-Time behaviour synthesis for dynamic hand-manipulation Proceedings - Ieee International Conference On Robotics and Automation. 6808-6815. DOI: 10.1109/ICRA.2014.6907864  1
2014 Todorov E. Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo Proceedings - Ieee International Conference On Robotics and Automation. 6054-6061. DOI: 10.1109/ICRA.2014.6907751  1
2014 Xu Z, Kolev S, Todorov E. Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation Proceedings - Ieee International Conference On Robotics and Automation. 2749-2756. DOI: 10.1109/ICRA.2014.6907253  1
2014 Tassa Y, Mansard N, Todorov E. Control-limited differential dynamic programming Proceedings - Ieee International Conference On Robotics and Automation. 1168-1175. DOI: 10.1109/ICRA.2014.6907001  1
2014 Dvijotham K, Fazel M, Todorov E. Universal convexification via risk-aversion Uncertainty in Artificial Intelligence - Proceedings of the 30th Conference, Uai 2014. 162-171.  1
2013 Mordatch I, Wang JM, Todorov E, Koltun V. Animating human lower limbs using contact-invariant optimization Acm Transactions On Graphics. 32. DOI: 10.1145/2508363.2508365  1
2013 Rombokas E, Malhotra M, Theodorou EA, Todorov E, Matsuoka Y. Reinforcement learning and synergistic control of the ACT hand Ieee/Asme Transactions On Mechatronics. 18: 569-577. DOI: 10.1109/TMECH.2012.2219880  1
2013 Kumar V, Xu Z, Todorov E. Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands Proceedings - Ieee International Conference On Robotics and Automation. 1512-1519. DOI: 10.1109/ICRA.2013.6630771  1
2013 Tassa Y, Wu T, Movellan J, Todorov E. Modeling and identification of pneumatic actuators 2013 Ieee International Conference On Mechatronics and Automation, Ieee Icma 2013. 437-443. DOI: 10.1109/ICMA.2013.6617958  1
2013 Theodorou EA, Dvijotham K, Todorov E. Time varying nonlinear policy gradients Proceedings of the Ieee Conference On Decision and Control. 7765-7770. DOI: 10.1109/CDC.2013.6761122  1
2013 Dvijotham K, Theodorou E, Todorov E, Fazel M. Convexity of optimal linear controller design Proceedings of the Ieee Conference On Decision and Control. 2477-2482. DOI: 10.1109/CDC.2013.6760252  1
2013 Dvijotham K, Todorov E, Fazel M. Convex control design via covariance minimization 2013 51st Annual Allerton Conference On Communication, Control, and Computing, Allerton 2013. 93-99. DOI: 10.1109/Allerton.2013.6736510  1
2013 Theodorou EA, Najemnik J, Todorov E. Free energy based policy gradients Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl. 124-131. DOI: 10.1109/ADPRL.2013.6614998  1
2013 Zhong M, Johnson M, Tassa Y, Erez T, Todorov E. Value function approximation and model predictive control Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl. 100-107. DOI: 10.1109/ADPRL.2013.6614995  1
2013 Dvijotham K, Todorov E. Linearly Solvable Optimal Control Reinforcement Learning and Approximate Dynamic Programming For Feedback Control. 119-141. DOI: 10.1002/9781118453988.ch6  1
2013 Theodorou EA, Todorov E. The δ - Sensitivity and its application to stochastic optimal control of nonlinear diffusions Proceedings of the American Control Conference. 4209-4214.  1
2013 Kontitsis M, Theodorou EA, Todorov E. Multi-robot active SLAM with relative entropy optimization Proceedings of the American Control Conference. 2757-2764.  1
2013 Rombokas E, Malhotra M, Theodorou E, Todorov E, Matsuoka Y. Tendon-driven variable impedance control using reinforcement learning Robotics: Science and Systems. 8: 369-376.  1
2012 Mordatch I, Todorov E, Popović Z. Discovery of complex behaviors through contact-invariant optimization Acm Transactions On Graphics. 31. DOI: 10.1145/2185520.2185539  1
2012 Erez T, Todorov E. Trajectory optimization for domains with contacts using inverse dynamics Ieee International Conference On Intelligent Robots and Systems. 4914-4919. DOI: 10.1109/IROS.2012.6386181  1
2012 Todorov E, Erez T, Tassa Y. MuJoCo: A physics engine for model-based control Ieee International Conference On Intelligent Robots and Systems. 5026-5033. DOI: 10.1109/IROS.2012.6386109  1
2012 Tassa Y, Erez T, Todorov E. Synthesis and stabilization of complex behaviors through online trajectory optimization Ieee International Conference On Intelligent Robots and Systems. 4906-4913. DOI: 10.1109/IROS.2012.6386025  1
2012 Malhotra M, Rombokas E, Theodorou E, Todorov E, Matsuoka Y. Reduced dimensionality control for the ACT hand Proceedings - Ieee International Conference On Robotics and Automation. 5117-5122. DOI: 10.1109/ICRA.2012.6224651  1
2012 Rombokas E, Theodorou E, Malhotra M, Todorov E, Matsuoka Y. Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach Proceedings - Ieee International Conference On Robotics and Automation. 208-214. DOI: 10.1109/ICRA.2012.6224650  1
2012 Theodorou EA, Todorov E. Relative entropy and free energy dualities: Connections to Path Integral and KL control Proceedings of the Ieee Conference On Decision and Control. 1466-1473. DOI: 10.1109/CDC.2012.6426381  1
2012 Xu Z, Kumar V, Matsuoka Y, Todorov E. Design of an anthropomorphic robotic finger system with biomimetic artificial joints Proceedings of the Ieee Ras and Embs International Conference On Biomedical Robotics and Biomechatronics. 568-574. DOI: 10.1109/BioRob.2012.6290710  1
2012 Dvijotham K, Todorov E. Linearly solvable Markov games Proceedings of the American Control Conference. 1845-1850.  1
2012 Theodorou EA, Todorov E. Stochastic optimal control for nonlinear markov jump diffusion processes Proceedings of the American Control Conference. 1633-1639.  1
2012 Erez T, Tassa Y, Todorov E. Infinite-horizon model predictive control for periodic tasks with contacts Robotics: Science and Systems. 7: 73-80.  1
2011 Zhong M, Todorov E. Aggregation methods for lineary-solvable Markov decision process Ifac Proceedings Volumes (Ifac-Papersonline). 18: 11220-11225. DOI: 10.3182/20110828-6-IT-1002.03729  1
2011 Todorov E. Finding the most likely trajectories of optimally-controlled stochastic systems Ifac Proceedings Volumes (Ifac-Papersonline). 18: 4728-4734. DOI: 10.3182/20110828-6-IT-1002.01704  1
2011 Tassa Y, Erez T, Todorov E. Optimal limit-cycle control recast as Bayesian inference Ifac Proceedings Volumes (Ifac-Papersonline). 18: 4707-4713. DOI: 10.3182/20110828-6-IT-1002.00903  1
2011 Li W, Todorov E, Liu D. Inverse optimality design for biological movement systems Ifac Proceedings Volumes (Ifac-Papersonline). 18: 9662-9667. DOI: 10.3182/20110828-6-IT-1002.00877  1
2011 Simpkins A, Kelley MS, Todorov E. Modular bio-mimetic robots that can interact with the world the way we do Proceedings - Ieee International Conference On Robotics and Automation. 3189-3196. DOI: 10.1109/ICRA.2011.5980560  1
2011 Kulchenko P, Todorov E. First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing Proceedings - Ieee International Conference On Robotics and Automation. 2144-2151. DOI: 10.1109/ICRA.2011.5980196  1
2011 Xu Z, Todorov E, Dellon B, Matsuoka Y. Design and analysis of an artificial finger joint for anthropomorphic robotic hands Proceedings - Ieee International Conference On Robotics and Automation. 5096-5102. DOI: 10.1109/ICRA.2011.5979860  1
2011 Todorov E. A convex, smooth and invertible contact model for trajectory optimization Proceedings - Ieee International Conference On Robotics and Automation. 1071-1076. DOI: 10.1109/ICRA.2011.5979814  1
2011 Simpkins A, Todorov E. Complex object manipulation with hierarchical optimal control Ieee Ssci 2011: Symposium Series On Computational Intelligence - Adprl 2011: 2011 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning. 338-345. DOI: 10.1109/ADPRL.2011.5967393  1
2011 Zhong M, Todorov E. Moving least-squares approximations for linearly-solvable MDP Ieee Ssci 2011: Symposium Series On Computational Intelligence - Adprl 2011: 2011 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning. 218-225. DOI: 10.1109/ADPRL.2011.5967383  1
2011 Tassa Y, Todorov E. High-order local dynamic programming Ieee Ssci 2011: Symposium Series On Computational Intelligence - Adprl 2011: 2011 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning. 70-75. DOI: 10.1109/ADPRL.2011.5967350  1
2011 Zhong M, Todorov E. Moving least-squares approximations for linearly-solvable stochastic optimal control problems Journal of Control Theory and Applications. 9: 451-463. DOI: 10.1007/s11768-011-0275-0  1
2011 Theodorou E, Todorov E, Valero-Cuevas FJ. Neuromuscular stochastic optimal control of a tendon driven index finger model Proceedings of the American Control Conference. 348-355.  1
2011 Dvijotham K, Todorov E. A unifying framework for linearly solvable control Proceedings of the 27th Conference On Uncertainty in Artificial Intelligence, Uai 2011. 179-186.  1
2011 Tassa Y, Todorov E. Stochastic complementarity for local control of discontinuous dynamics Robotics: Science and Systems. 6: 169-176.  1
2010 Theodorou EA, Todorov E, Valero-Cuevas FJ. A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model Asme 2010 Summer Bioengineering Conference, Sbc 2010. 445-446. DOI: 10.1115/SBC2010-19628  1
2010 Todorov E. Implicit nonlinear complementarity: A new approach to contact dynamics Proceedings - Ieee International Conference On Robotics and Automation. 2322-2329. DOI: 10.1109/ROBOT.2010.5509739  1
2010 Todorov E, Hu C, Simpkins A, Movellan J. Identification and control of a pneumatic robot 2010 3rd Ieee Ras and Embs International Conference On Biomedical Robotics and Biomechatronics, Biorob 2010. 373-380. DOI: 10.1109/BIOROB.2010.5627779  1
2010 Todorov E. Policy gradients in linearly-solvable MDPs Advances in Neural Information Processing Systems 23: 24th Annual Conference On Neural Information Processing Systems 2010, Nips 2010 1
2010 Simpkins A, Todorov E. Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors Proceedings of the 2010 American Control Conference, Acc 2010. 1948-1955.  1
2010 Theodorou E, Tassa Y, Todorov E. Stochastic differential dynamic programming Proceedings of the 2010 American Control Conference, Acc 2010. 1125-1132.  1
2010 Dvijotham K, Todorov E. Inverse optimal control with linearly-solvable MDPs Icml 2010 - Proceedings, 27th International Conference On Machine Learning. 335-342.  1
2009 Todorov E. Efficient computation of optimal actions. Proceedings of the National Academy of Sciences of the United States of America. 106: 11478-83. PMID 19574462 DOI: 10.1073/pnas.0710743106  1
2009 Valero-Cuevas FJ, Venkadesan M, Todorov E. Structured variability of muscle activations supports the minimal intervention principle of motor control. Journal of Neurophysiology. 102: 59-68. PMID 19369362 DOI: 10.1152/jn.90324.2008  1
2009 Todorov E. Eigenfunction approximation methods for linearly-solvable optimal control problems 2009 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl 2009 - Proceedings. 161-168. DOI: 10.1109/ADPRL.2009.4927540  1
2009 Todorov E, Tassa Y. Iterative local dynamic programming 2009 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl 2009 - Proceedings. 90-95. DOI: 10.1109/ADPRL.2009.4927530  1
2009 Liu D, Todorov E. Hierarchical Optimal Control of a 7-DOF Arm Model 2009 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl 2009 - Proceedings. 50-57. DOI: 10.1109/ADPRL.2009.4927525  1
2009 Huh D, Todorov E. Real-Time Motor Control using Recurrent Neural Networks 2009 Ieee Symposium On Adaptive Dynamic Programming and Reinforcement Learning, Adprl 2009 - Proceedings. 42-49. DOI: 10.1109/ADPRL.2009.4927524  1
2009 Todorov E. Compositionality of optimal control laws Advances in Neural Information Processing Systems 22 - Proceedings of the 2009 Conference. 1856-1864.  1
2008 Hammon PS, Makeig S, Poizner H, Todorov E, de Sa VR. Predicting reaching targets from human EEG Ieee Signal Processing Magazine. 25: 69-77. DOI: 10.1109/MSP.2008.4408443  1
2008 Todorov E. General duality between optimal control and estimation Proceedings of the Ieee Conference On Decision and Control. 4286-4292. DOI: 10.1109/CDC.2008.4739438  1
2008 Simpkins A, De Callafon R, Todorov E. Optimal trade-off between exploration and exploitation Proceedings of the American Control Conference. 33-38. DOI: 10.1109/ACC.2008.4586462  1
2007 Todorov E. Probabilistic inference of multijoint movements, skeletal parameters and marker attachments from diverse motion capture data. Ieee Transactions On Bio-Medical Engineering. 54: 1927-39. PMID 18018688 DOI: 10.1109/TBME.2007.903521  1
2007 Liu D, Todorov E. Evidence for the flexible sensorimotor strategies predicted by optimal feedback control. The Journal of Neuroscience : the Official Journal of the Society For Neuroscience. 27: 9354-68. PMID 17728449 DOI: 10.1523/JNEUROSCI.1110-06.2007  1
2007 Li W, Skelton RE, Todorov E. State estimation with finite signal-to-noise models via linear matrix inequalities Journal of Dynamic Systems, Measurement and Control, Transactions of the Asme. 129: 136-143. DOI: 10.1115/1.2432358  1
2007 Li W, Todorov E. Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system International Journal of Control. 80: 1439-1453. DOI: 10.1080/00207170701364913  1
2007 Todorov E. Linearly-solvable Markov decision problems Advances in Neural Information Processing Systems. 1369-1376.  1
2006 Li W, Todorov E. An iterative optimal control and estimation design for nonlinear stochastic system Proceedings of the Ieee Conference On Decision and Control. 3242-3247.  1
2005 Todorov E, Li W, Pan X. From task parameters to motor synergies: A hierarchical framework for approximately-optimal control of redundant manipulators. Journal of Robotic Systems. 22: 691-710. PMID 17710121 DOI: 10.1002/rob.20093  1
2005 Pan X, Todorov E, Li W. Towards an Integrated System for Estimating Multi-joint Movement from Diverse Sensor Data. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 5: 4982-5. PMID 17281363 DOI: 10.1109/IEMBS.2005.1615593  1
2005 Li W, Todorov E, Pan X. Hierarchical Feedback and Learning for Multi-joint Arm Movement Control. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 4: 4400-3. PMID 17281211 DOI: 10.1109/IEMBS.2005.1615441  1
2005 Todorov E. Stochastic optimal control and estimation methods adapted to the noise characteristics of the sensorimotor system. Neural Computation. 17: 1084-108. PMID 15829101 DOI: 10.1162/0899766053491887  1
2005 Todorov E, Li W. A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems Proceedings of the American Control Conference. 1: 300-306.  1
2005 Li W, Todorov E, Skelton RE. Estimation and control of systems with multiplicative noise via linear matrix inequalities Proceedings of the American Control Conference. 3: 1811-1816.  1
2004 Todorov E, Ghahramani Z. Analysis of the synergies underlying complex hand manipulation. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 6: 4637-40. PMID 17271341 DOI: 10.1109/IEMBS.2004.1404285  1
2004 Davoodi R, Urata C, Todorov E, Loeb GE. Development of clinician-friendly software for musculoskeletal modeling and control. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 6: 4622-5. PMID 17271337 DOI: 10.1109/IEMBS.2004.1404281  1
2004 Li W, Todorov E, Pan X. Hierarchical optimal control of redundant biomechanical systems. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 6: 4618-21. PMID 17271336 DOI: 10.1109/IEMBS.2004.1404280  1
2004 Todorov E. Optimality principles in sensorimotor control. Nature Neuroscience. 7: 907-15. PMID 15332089 DOI: 10.1038/nn1309  1
2003 Todorov E, Ghahramani Z. Unsupervised Learning of Sensory-Motor Primitives Annual International Conference of the Ieee Engineering in Medicine and Biology - Proceedings. 2: 1750-1753.  1
2003 Todorov E, Li W. Optimal Control Methods Suitable for Biomechanical Systems Annual International Conference of the Ieee Engineering in Medicine and Biology - Proceedings. 2: 1758-1761.  1
2003 Todorov E, Jordan MI. A minimal intervention principle for coordinated movement Advances in Neural Information Processing Systems 1
2002 Todorov E, Jordan MI. Optimal feedback control as a theory of motor coordination. Nature Neuroscience. 5: 1226-35. PMID 12404008 DOI: 10.1038/nn963  1
2002 Todorov E. Cosine tuning minimizes motor errors. Neural Computation. 14: 1233-60. PMID 12020444 DOI: 10.1162/089976602753712918  1
2000 Todorov E. Direct cortical control of muscle activation in voluntary arm movements: a model. Nature Neuroscience. 3: 391-8. PMID 10725930 DOI: 10.1038/73964  1
1998 Todorov E, Jordan MI. Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements. Journal of Neurophysiology. 80: 696-714. PMID 9705462  1
1998 Somers DC, Todorov EV, Siapas AG, Toth LJ, Kim DS, Sur M. A local circuit approach to understanding integration of long-range inputs in primary visual cortex. Cerebral Cortex (New York, N.Y. : 1991). 8: 204-17. PMID 9617915 DOI: 10.1093/cercor/8.3.204  1
1997 Todorov E, Shadmehr R, Bizzi E. Augmented Feedback Presented in a Virtual Environment Accelerates Learning of a Difficult Motor Task. Journal of Motor Behavior. 29: 147-158. PMID 12453791 DOI: 10.1080/00222899709600829  1
1997 Todorov E, Siapas A, Somers D. A model of recurrent interactions in primary visual cortex Advances in Neural Information Processing Systems. 118-124.  1
1996 Somers DC, Todorov EV, Siapas AG, Sur M. Vectorial integration in visual cortical receptive fields Investigative Ophthalmology and Visual Science. 37: S1074.  1
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