Evangelos A. Theodorou

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HJB Based Optimal Safe Control using Control Barrier Functions pdf

Nader Sadegh, Hassan Almubarak, Evangelos A. Theodorou, 2021, ArXiv.

Safety Embedded Differential Dynamic Programming using Discrete Barrier States pdf

Nader Sadegh, Hassan Almubarak, Evangelos A. Theodorou, 2022, IEEE Robotics and Automation Letters.

Stochastic spatio-temporal optimization for control and co-design of systems in robotics and applied physics pdf

Ethan N. Evans, Andrew P. Kendall, Evangelos A. Theodorou, 2021, Auton. Robots.

Compositionality of Linearly Solvable Optimal Control in Networked Multi-Agent Systems

Naira Hovakimyan, Aditya Gahlawat, Neng Wan, 2021, 2021 American Control Conference (ACC).

Receding Horizon Differential Dynamic Programming Under Parametric Uncertainty

Yuichiro Aoyama, Evangelos A. Theodorou, Augustinos D. Saravanos, 2021 .

Maximum Entropy Differential Dynamic Programming pdf

Ziyi Wang, Oswin So, Evangelos A. Theodorou, 2021, ArXiv.

Variational Inference MPC using Tsallis Divergence pdf

Ziyi Wang, Bogdan Vlahov, Bogdan I. Vlahov, 2021, Robotics: Science and Systems.

Safety Embedded Control of Nonlinear Systems via Barrier States

Nader Sadegh, Hassan Almubarak, Evangelos A. Theodorou, 2021, IEEE Control Systems Letters.

Second-Order Neural ODE Optimizer pdf

Evangelos A. Theodorou, Guan-Horng Liu, Tianrong Chen, 2021, NeurIPS.

Deep L1 Stochastic Optimal Control Policies for Planetary Soft-landing

Marcus A. Pereira, Camilo A. Duarte, Evangelos A. Theodorou, 2021, ArXiv.

Spatiotemporal Costmap Inference for MPC Via Deep Inverse Reinforcement Learning pdf

David Isele, Evangelos A. Theodorou, Sangjae Bae, 2022, IEEE Robotics and Automation Letters.

Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization pdf

Nader Sadegh, Hassan Almubarak, Evangelos A. Theodorou, 2021, ArXiv.

Cooperative Path Integral Control for Stochastic Multi-Agent Systems

Naira Hovakimyan, Petros G. Voulgaris, Aditya Gahlawat, 2020, 2021 American Control Conference (ACC).

Flying Complex Maneuvers with Model Predictive Path Integral Control

Jintasit Pravitra, Evangelos A. Theodorou, Eric N. Johnson, 2020, AIAA Scitech 2021 Forum.

Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent Systems

Efstathios Bakolas, Evangelos A. Theodorou, Augustinos D. Saravanos, 2021, Robotics: Science and Systems.

Optimal-Horizon Model-Predictive Control with Differential Dynamic Programming pdf

Evangelos A. Theodorou, Kyle Stachowicz, 2021, ArXiv.

Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems pdf

Naira Hovakimyan, Petros G. Voulgaris, Aditya Gahlawat, 2021, ArXiv.

Spatio-Temporal Differential Dynamic Programming for Control of Fields

Ethan N. Evans, Andrew P. Kendall, Oswin So, 2021, 2104.04044.

Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees

Grady Williams, Bogdan Vlahov, Bogdan I. Vlahov, 2021, IEEE Robotics and Automation Letters.

Learning Risk-Aware Costmaps for Traversability in Challenging Environments

Ali-akbar Agha-mohammadi, David D. Fan, Evangelos A. Theodorou, 2022, IEEE Robotics and Automation Letters.

Large-Scale Multi-Agent Deep FBSDEs

Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou, 2021, ICML.

Dynamic Game Theoretic Neural Optimizer

Evangelos A. Theodorou, Guan-Horng Liu, Tianrong Chen, 2021, ICML.

Generalization of Safe Optimal Control Actions on Networked Multiagent Systems pdf

Naira Hovakimyan, Aditya Gahlawat, Chuyuan Tao, 2021, IEEE Transactions on Control of Network Systems.

Stochastic optimization for learning quantum state feedback control

Ethan N. Evans, Ziyi Wang, Michael R. DeWeese, 2021, 2111.09896.

Deep AutoRally : Agile Autonomous Driving via End-to-End Imitation Learning

Byron Boots, Yunpeng Pan, Ching-An Cheng, 2010 .

Deep Learning Tubes for Tube MPC pdf

Ali-akbar Agha-mohammadi, David D. Fan, Evangelos A. Theodorou, 2020, Robotics: Science and Systems.

Model Predictive Path Integral Control: From Theory to Parallel Computation

Evangelos A. Theodorou, Grady Williams, Andrew Aldrich, 2017 .

Numerical Trajectory Optimization for Stochastic Mechanical Systems

Yunpeng Pan, Evangelos A. Theodorou, George I. Boutselis, 2019, SIAM J. Sci. Comput..

Deep Generalized Schr\"odinger Bridge

Tianrong Chen, Evangelos A. Theodorou, E. Theodorou, 2022, 2209.09893.

Deep Graphic FBSDEs for Opinion Dynamics Stochastic Control

Evangelos A. Theodorou, E. Theodorou, T. Chen, 2022, 2022 IEEE 61st Conference on Decision and Control (CDC).

Path integral control and bounded rationality

Stefan Schaal, Daniel A. Braun, Evangelos Theodorou, 2011, 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Likelihood Training of Schrödinger Bridge using Forward-Backward SDEs Theory

Evangelos A. Theodorou, E. Theodorou, T. Chen, 2021, ICLR.

Learning motion primitive goals for robust manipulation

Stefan Schaal, Ludovic Righetti, Evangelos Theodorou, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Learning variable impedance control

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2011, Int. J. Robotics Res..

Skill learning and task outcome prediction for manipulation

Stefan Schaal, Evangelos Theodorou, Sachin Chitta, 2011, 2011 IEEE International Conference on Robotics and Automation.

Reinforcement learning of motor skills in high dimensions: A path integral approach

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, 2010 IEEE International Conference on Robotics and Automation.

Efficient Reinforcement Learning via Probabilistic Trajectory Optimization

Yunpeng Pan, Evangelos A. Theodorou, George I. Boutselis, 2018, IEEE Transactions on Neural Networks and Learning Systems.

Robust Trajectory Optimization: A Cooperative Stochastic Game Theoretic Approach

Yunpeng Pan, Evangelos Theodorou, Kaivalya Bakshi, 2015, Robotics: Science and Systems.

Information-theoretic stochastic optimal control via incremental sampling-based algorithms

Evangelos Theodorou, Panagiotis Tsiotras, Oktay Arslan, 2014, 2014 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Stochastic trajectory optimization for mechanical systems with parametric uncertainties

George I. Boutselis, Evangelos A. Theodorou, Yunpeng Pan, 2017, 1705.05506.

Learning to grasp under uncertainty

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2011, 2011 IEEE International Conference on Robotics and Automation.

A Generalized Path Integral Control Approach to Reinforcement Learning

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, J. Mach. Learn. Res..

Path integral reinforcement learning

Stefan Schaal, Jonas Buchli, Evangelos A. Theodorou, 2011 .

Learning Variable Impedance Control Learning Variable Impedance Control

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2011 .

Aggressive driving with model predictive path integral control

James M. Rehg, Evangelos Theodorou, Grady Williams, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Probabilistic Differential Dynamic Programming

Yunpeng Pan, Evangelos Theodorou, Evangelos A. Theodorou, 2014, NIPS.

Imitation learning for agile autonomous driving

Byron Boots, Ching-An Cheng, Evangelos A. Theodorou, 2019, Int. J. Robotics Res..

Model Predictive Path Integral Control using Covariance Variable Importance Sampling pdf

Evangelos Theodorou, Grady Williams, Andrew Aldrich, 2015, ArXiv.

From dynamic movement primitives to associative skill memories

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2013, Robotics Auton. Syst..

MPC-Inspired Neural Network Policies for Sequential Decision Making pdf

Evangelos Theodorou, Gabriel Nakajima An, David D. Fan, 2018, ArXiv.

Compositionality of Linearly Solvable Optimal Control in Networked Multi-Agent Systems pdf

Naira Hovakimyan, Aditya Gahlawat, Lin Song, 2020, 2021 American Control Conference (ACC).

Prediction under Uncertainty in Sparse Spectrum Gaussian Processes with Applications to Filtering and Control

Byron Boots, Yunpeng Pan, Evangelos Theodorou, 2017, ICML.

STOMP: Stochastic trajectory optimization for motion planning

Stefan Schaal, Evangelos Theodorou, Sachin Chitta, 2011, 2011 IEEE International Conference on Robotics and Automation.

Reinforcement Learning With Sequences of Motion Primitives for Robust Manipulation

Stefan Schaal, Evangelos Theodorou, Freek Stulp, 2012, IEEE Transactions on Robotics.

Stochastic Differential Dynamic Programming

Yuval Tassa, Evangelos Theodorou, Emo Todorov, 2010, Proceedings of the 2010 American Control Conference.

Nonlinear Stochastic Control and Information Theoretic Dualities: Connections, Interdependencies and Thermodynamic Interpretations

Evangelos Theodorou, Evangelos A. Theodorou, 2015, Entropy.

Relative entropy and free energy dualities: Connections to Path Integral and KL control

Evangelos Theodorou, Emanuel Todorov, Evangelos A. Theodorou, 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

Min-Max Differential Dynamic Programming: Continuous and Discrete Time Formulations

Evangelos A. Theodorou, Yunpeng Pan, E. Theodorou, 2018, Journal of Guidance, Control, and Dynamics.

Free energy based policy gradients

Evangelos Theodorou, Emanuel Todorov, Jiri Najemnik, 2013, 2013 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Girsanov Based Direct Policy Gradient Methods

Evangelos A. Theodorou, E. Theodorou, E. Todorov, 2012 .

Iterative path integral stochastic optimal control: Theory and applications to motor control

Evangelos A. Theodorou, E. Theodorou, 2011 .

Learning Risk-Aware Costmaps for Traversability in Challenging Environments

David D. Fan, Evangelos A. Theodorou, E. Theodorou, 2021, IEEE Robotics and Automation Letters.

Optimizing inventory control through a data-driven and model-independent framework

Evangelos A. Theodorou, E. Theodorou, Evangelos Spiliotis, 2022, EURO J. Transp. Logist..

Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

James M. Rehg, Evangelos A. Theodorou, Grady Williams, 2017, IEEE Transactions on Robotics.

High-Relative Degree Stochastic Control Lyapunov and Barrier Functions pdf

Debasish Ghose, Evangelos A. Theodorou, Meenakshi Sarkar, 2020, ArXiv.

I2SB: Image-to-Image Schrödinger Bridge

Evangelos A. Theodorou, E. Theodorou, Anima Anandkumar, 2023, ICML.

$\mathcal{RL}_1$-$\mathcal{GP}$: Safe Simultaneous Learning and Control

Naira Hovakimyan, Evangelos Theodorou, Aditya Gahlawat, 2020 .

Contraction $\mathcal{L}_1$-Adaptive Control using Gaussian Processes

Evangelos A. Theodorou, E. Theodorou, N. Hovakimyan, 2020, 2009.03864.

L1-GP: L1 Adaptive Control with Bayesian Learning

Evangelos A. Theodorou, E. Theodorou, N. Hovakimyan, 2020, L4DC.

Agile Autonomous Driving using End-to-End Deep Imitation Learning

Byron Boots, Yunpeng Pan, Evangelos Theodorou, 2017, Robotics: Science and Systems.

Deep Momentum Multi-Marginal Schrödinger Bridge

Evangelos A. Theodorou, E. Theodorou, T. Chen, 2023, ArXiv.

Exploring the representativeness of the M5 competition data

Evangelos A. Theodorou, E. Theodorou, Spyros Makridakis, 2021, International Journal of Forecasting.

Perceptual Attention-based Predictive Control pdf

Evangelos Theodorou, Keuntaek Lee, Gabriel Nakajima An, 2019, CoRL.

Information theoretic MPC for model-based reinforcement learning

Nolan Wagener, Byron Boots, James M. Rehg, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

Bayesian Learning-Based Adaptive Control for Safety Critical Systems

David D. Fan, Evangelos A. Theodorou, E. Theodorou, 2019, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Propagating Uncertainty through the tanh Function with Application to Reservoir Computing pdf

Yunpeng Pan, Evangelos Theodorou, Manan Gandhi, 2018, ArXiv.

Adaptive Risk Sensitive Model Predictive Control with Stochastic Search

Evangelos Theodorou, Ziyi Wang, Keuntaek Lee, 2020, L4DC.

Safe Learning of Quadrotor Dynamics Using Barrier Certificates

Li Wang, Magnus Egerstedt, Evangelos Theodorou, 2017, 2018 IEEE International Conference on Robotics and Automation (ICRA).

A mean-field game model for homogeneous flocking

Evangelos Theodorou, Kaivalya Bakshi, Piyush Grover, 2018, Chaos.

Open-loop Deterministic Density Control of Marked Jump Diffusions

Evangelos A. Theodorou, Kaivlaya Bakshi, Evangelos A. Theodorou, 2020, 2009.07154.

Reinforcement learning of impedance control in stochastic force fields

Stefan Schaal, Evangelos Theodorou, Michael Mistry, 2011, 2011 IEEE International Conference on Development and Learning (ICDL).

Deep Generalized Schrödinger Bridge

Evangelos A. Theodorou, E. Theodorou, T. Chen, 2022, NeurIPS.

Game-theoretic and risk-sensitive stochastic optimal control via forward and backward stochastic differential equations

Evangelos Theodorou, Panagiotis Tsiotras, Ioannis Exarchos, 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

Learning optimal control via forward and backward stochastic differential equations

Evangelos Theodorou, Ioannis Exarchos, Evangelos A. Theodorou, 2015, 2016 American Control Conference (ACC).

Time varying nonlinear Policy Gradients

Evangelos Theodorou, Emanuel Todorov, Krishnamurthy Dvijotham, 2013, 52nd IEEE Conference on Decision and Control.

The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions

Evangelos Theodorou, Emanuel Todorov, Evangelos A. Theodorou, 2013, 2013 American Control Conference.

Reinforcement Learning and Synergistic Control of the ACT Hand

Y. Matsuoka, E. Rombokas, M. Malhotra, 2013, IEEE/ASME Transactions on Mechatronics.

Stochastic optimal control for nonlinear markov jump diffusion processes

Evangelos Theodorou, Emanuel Todorov, Evangelos A. Theodorou, 2012, 2012 American Control Conference (ACC).

Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach

Evangelos Theodorou, Emanuel Todorov, Yoky Matsuoka, 2012, 2012 IEEE International Conference on Robotics and Automation.

Reinforcement learning of full-body humanoid motor skills

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

Optimality in neuromuscular systems

Evangelos Theodorou, Francisco J. Valero-Cuevas, Evangelos A. Theodorou, 2010, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology.

Computational Models for Neuromuscular Function

M. U. Kurse, F.J. Valero-Cuevas, H. Hoffmann, 2009, IEEE Reviews in Biomedical Engineering.

Path integral-based stochastic optimal control for rigid body dynamics

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

Feynman-Kac Neural Network Architectures for Stochastic Control Using Second-Order FBSDE Theory

Ziyi Wang, Tianrong Chen, Marcus Pereira, 2020, L4DC.

An iterative path integral stochastic optimal control approach for learning robotic tasks

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2011 .

ℒ1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors pdf

Kasey A. Ackerman, Naira Hovakimyan, Chengyu Cao, 2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Forward-Backward Rapidly-Exploring Random Trees for Stochastic Optimal Control

Kelsey P. Hawkins, Evangelos A. Theodorou, P. Tsiotras, 2021, 2021 60th IEEE Conference on Decision and Control (CDC).

Stochastic Differential Games: A Sampling Approach via FBSDEs

Panagiotis Tsiotras, Evangelos A. Theodorou, Ioannis Exarchos, 2018, Dynamic Games and Applications.

Stochastic optimal control via forward and backward stochastic differential equations and importance sampling

Evangelos Theodorou, Ioannis Exarchos, Evangelos A. Theodorou, 2018, Autom..

Aggressive Deep Driving: Combining Convolutional Neural Networks and Model Predictive Control

James M. Rehg, Evangelos Theodorou, Grady Williams, 2017, CoRL.

Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms

John Reeder, Evangelos Theodorou, David D. Fan, 2018, 2018 IEEE Symposium Series on Computational Intelligence (SSCI).

Evolving cost functions for model predictive control of multi-agent UAV combat swarms

Evangelos Theodorou, David D. Fan, John Reeder, 2017, GECCO.

Constrained Differential Dynamic Programming Revisited

Evangelos A. Theodorou, George I. Boutselis, Yuichiro Aoyama, 2020, 2021 IEEE International Conference on Robotics and Automation (ICRA).

From information theoretic dualities to Path Integral and Kullback Leibler control : Continuous and Discrete Time formulations

Evangelos A. Theodorou, E. Theodorou, Krishnamurthy Dvijotham, 2013 .

Model-Free Reinforcement Learning of Impedance Control in Stochastic Environments

Stefan Schaal, Evangelos Theodorou, Michael N. Mistry, 2012, IEEE Transactions on Autonomous Mental Development.

Reduced dimensionality control for the ACT hand

Evangelos Theodorou, Emanuel Todorov, Yoky Matsuoka, 2012, 2012 IEEE International Conference on Robotics and Automation.

Infinite dimensional control of doubly stochastic Jump Diffusions

Evangelos Theodorou, Kaivalya Bakshi, Evangelos A. Theodorou, 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs

Marcus A. Pereira, Evangelos A. Theodorou, E. Theodorou, 2020, CoRL.

Deep Forward-Backward SDEs for Min-max Control

Evangelos A. Theodorou, Ziyi Wang, Ioannis Exarchos, 2019, 2019 IEEE 58th Conference on Decision and Control (CDC).

Energy Cost in Arm Movements The Central Nervous System Does Not Minimize

Stefan Schaal, Mitsuo Kawato, Luciano Fadiga, 2015 .

Optimal Thrust Profile for Planetary Soft Landing Under Stochastic Disturbances

Panagiotis Tsiotras, Evangelos A. Theodorou, Ioannis Exarchos, 2019, Journal of Guidance, Control, and Dynamics.

Mirror Diffusion Models for Constrained and Watermarked Generation

Evangelos A. Theodorou, T. Chen, Guan-Horng Liu, 2023, ArXiv.

Deep Momentum Multi-Marginal Schr\"odinger Bridge

Evangelos A. Theodorou, T. Chen, Guan-Horng Liu, 2023, 2303.01751.

A Kalman filter for robust outlier detection

Evangelos A. Theodorou, Jo-Anne Ting, Stefan Schaal, 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Variational Policy for Guiding Point Processes

Le Song, Yichen Wang, Evangelos Theodorou, 2017, ICML.

A Stochastic Differential Equation Framework for Guiding Information Diffusion

Le Song, Yichen Wang, Apurv Verma, 2016, 1603.09021.

Ensemble Bayesian Decision Making with Redundant Deep Perceptual Control Policies

Evangelos Theodorou, Ziyi Wang, Keuntaek Lee, 2018, 2019 18th IEEE International Conference On Machine Learning And Applications (ICMLA).

Vision-Based High-Speed Driving With a Deep Dynamic Observer

James M. Rehg, Evangelos A. Theodorou, Grady Williams, 2018, IEEE Robotics and Automation Letters.

Aggressive Deep Driving: Model Predictive Control with a CNN Cost Model pdf

James M. Rehg, Evangelos Theodorou, Grady Williams, 2017, ArXiv.

Augmented Bridge Matching

Valentin De Bortoli, Evangelos A. Theodorou, Guan-Horng Liu, 2023, ArXiv.

Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning

James M. Rehg, Bogdan I. Vlahov, Evangelos A. Theodorou, 2020, 2021 IEEE International Conference on Robotics and Automation (ICRA).

Movement Segmentation and Recognition for Imitation Learning

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2012, AISTATS.

Path Planning: Differential Dynamic Programming and Model Predictive Path Integral Control on VTOL Aircraft

Michael J. Acheson, Evangelos A. Theodorou, I. Gregory, 2022, AIAA SCITECH 2022 Forum.

Constrained Covariance Steering Based Tube-MPPI

Isin M. Balci, Bogdan I. Vlahov, Evangelos A. Theodorou, 2021, 2022 American Control Conference (ACC).

Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering

Evangelos A. Theodorou, E. Theodorou, P. Tsiotras, 2021, 2022 International Conference on Robotics and Automation (ICRA).

Sample Efficient Path Integral Control under Uncertainty

Evangelos A. Theodorou, Yunpeng Pan, E. Theodorou, 2015, NIPS.

Movement segmentation using a primitive library

Stefan Schaal, Franziska Meier, Evangelos Theodorou, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Variable Impedance Control - A Reinforcement Learning Approach

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, Robotics: Science and Systems.

Safe end-to-end imitation learning for model predictive control pdf

Evangelos Theodorou, Keuntaek Lee, Kamil Saigol, 2018, ArXiv.

Learning Policy Improvements with Path Integrals

Stefan Schaal, Evangelos Theodorou, Jonas Buchli, 2010, AISTATS.

Information Theoretic MPC Using Neural Network Dynamics

James M. Rehg, Evangelos A. Theodorou, E. Theodorou, 2016 .

Scalable Reinforcement Learning via Trajectory Optimization and Approximate Gaussian Process Regression

Evangelos A. Theodorou, Yunpeng Pan, E. Theodorou, 2015 .

Inverse Reinforcement Learning with PI 2

Evangelos A. Theodorou, S. Schaal, E. Theodorou, 2010 .

Barrier States Theory for Safety-Critical Multi-Objective Control

Evangelos A. Theodorou, Hassan Almubarak, Nader Sadegh, 2023, ArXiv.

Safety Embedded Differential Dynamic Programming Using Discrete Barrier States

Evangelos A. Theodorou, N. Sadegh, Hassan Almubarak, 2021, IEEE Robotics and Automation Letters.

Stabilizing Optimal Density Control of Nonlinear Agents with Multiplicative Noise

Evangelos A. Theodorou, Kaivalya Bakshi, P. Grover, 2020, 2020 59th IEEE Conference on Decision and Control (CDC).

Stochastic control of systems with control multiplicative noise using second order FBSDEs

Evangelos Theodorou, Kaivalya S. Bakshi, David D. Fan, 2017, 2017 American Control Conference (ACC).

Autonomous suspended load operations via trajectory optimization and variational integrators

Evangelos A. Theodorou, Eric N. Johnson, E. Theodorou, 2017 .

Deep Learning Theory Review: An Optimal Control and Dynamical Systems Perspective pdf

Evangelos A. Theodorou, Guan-Horng Liu, Evangelos A. Theodorou, 2019, ArXiv.

Sampling-Based Optimization for Multi-Agent Model Predictive Control

Evangelos A. Theodorou, Augustinos D. Saravanos, E. Theodorou, 2022, 2211.11878.

Nonlinear-nonquadratic optimal and inverse optimal control for stochastic dynamical systems

Evangelos Theodorou, Wassim M. Haddad, Tanmay Rajpurohit, 2016, 2016 American Control Conference (ACC).

Distributed Differential Dynamic Programming Architectures for Large-Scale Multiagent Control

Evangelos A. Theodorou, Augustinos D. Saravanos, E. Theodorou, 2022, IEEE Transactions on Robotics.

Multi-agent Deep FBSDE Representation For Large Scale Stochastic Differential Games pdf

Evangelos A. Theodorou, Tianrong Chen, Ziyi Wang, 2020, ArXiv.

Decentralized Safe Multi-agent Stochastic Optimal Control using Deep FBSDEs and ADMM

Marcus A. Pereira, Evangelos A. Theodorou, Augustinos D. Saravanos, 2022, Robotics: Science and Systems.

Non-convex Optimization via Adaptive Stochastic Search for End-to-End Learning and Control

Evangelos A. Theodorou, Ziyi Wang, Ioannis Exarchos, 2020, International Conference on Learning Representations.

Robust Sampling Based Model Predictive Control with Sparse Objective Information

James M. Rehg, Evangelos Theodorou, Grady Williams, 2018, Robotics: Science and Systems.

Best Response Model Predictive Control for Agile Interactions Between Autonomous Ground Vehicles

James M. Rehg, Evangelos Theodorou, Grady Williams, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Autonomous Racing with AutoRally Vehicles and Differential Games pdf

James M. Rehg, Evangelos Theodorou, Grady Williams, 2017, ArXiv.

Constrained Sampling-based Trajectory Optimization using Stochastic Approximation

Evangelos A. Theodorou, Ziyi Wang, George I. Boutselis, 2019, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Deep 2FBSDEs for Systems with Control Multiplicative Noise pdf

Evangelos A. Theodorou, Ziyi Wang, Marcus A. Pereira, 2019, ArXiv.

Learning Deep Stochastic Optimal Control Policies Using Forward-Backward SDEs

Evangelos A. Theodorou, Ziyi Wang, Marcus A. Pereira, 2019, Robotics: Science and Systems.

Stochastic L1-optimal control via forward and backward sampling

Evangelos Theodorou, Panagiotis Tsiotras, Ioannis Exarchos, 2018, Syst. Control. Lett..

Generative Modeling with Phase Stochastic Bridges

Evangelos A. Theodorou, J. Susskind, Shuangfei Zhai, 2023, ArXiv.

Accelerating Imitation Learning with Predictive Models

Byron Boots, Ching-An Cheng, Evangelos A. Theodorou, 2018, AISTATS.

Trivialized Momentum Facilitates Diffusion Generative Modeling on Lie Groups

Evangelos A. Theodorou, Molei Tao, Tianrong Chen, 2024, 2405.16381.

Robustifying Reinforcement Learning Policies with L1 Adaptive Control

Evangelos A. Theodorou, Manan S. Gandhi, Bo Li, 2021, ArXiv.

Iterative path integral stochastic optimal control: Theory and applications to motor control

Evangelos A. Theodorou, 2011 .

Generalized Maximum Entropy Differential Dynamic Programming

Evangelos A. Theodorou, Yuichiro Aoyama, 2024, 2403.18130.

$\mathcal{RL}_1$-$\mathcal{GP}$: Safe Simultaneous Learning and Control

Evangelos A. Theodorou, N. Hovakimyan, Andrew Patterson, 2020 .

$\mathcal{L}_1$-$\mathcal{GP}$: $\mathcal{L}_1$ Adaptive Control with Bayesian Learning pdf

Naira Hovakimyan, Aditya Gahlawat, Andrew Patterson, 2020, ArXiv.