E. Todorov

发表

MuJoCo: A physics engine for model-based control

Yuval Tassa, Emanuel Todorov, Tom Erez, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Efficient computation of optimal actions

Emanuel Todorov, E. Todorov, 2009, Proceedings of the National Academy of Sciences.

Optimality principles in sensorimotor control

E. Todorov, 2004, Nature Neuroscience.

A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems

E. Todorov, Weiwei Li, 2005, Proceedings of the 2005, American Control Conference, 2005..

Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX

Yuval Tassa, Emanuel Todorov, Tom Erez, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Synthesis and stabilization of complex behaviors through online trajectory optimization

Yuval Tassa, Emanuel Todorov, Tom Erez, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Design of an anthropomorphic robotic finger system with biomimetic artificial joints

Y. Matsuoka, Zhe Xu, E. Todorov, 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

Trajectory optimization for domains with contacts using inverse dynamics

Emanuel Todorov, Tom Erez, T. Erez, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Optimal Limit-Cycle Control recast as Bayesian Inference

T. Erez, Yuval Tassa, E. Todorov, 2011 .

A convex, smooth and invertible contact model for trajectory optimization

Emanuel Todorov, E. Todorov, 2011, 2011 IEEE International Conference on Robotics and Automation.

Implicit nonlinear complementarity: A new approach to contact dynamics

Emanuel Todorov, E. Todorov, 2010, 2010 IEEE International Conference on Robotics and Automation.

A Minimal Intervention Principle for Coordinated Movement

Michael I. Jordan, Emanuel Todorov, E. Todorov, 2002, NIPS.

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations pdf

Sergey Levine, Aravind Rajeswaran, Emanuel Todorov, 2017, Robotics: Science and Systems.

Learning Dexterous Manipulation Policies from Experience and Imitation pdf

Sergey Levine, Abhishek Gupta, Vikash Kumar, 2016, ArXiv.

An integrated system for real-time model predictive control of humanoid robots

Yuval Tassa, Vikash Kumar, Emanuel Todorov, 2013, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).

A UNIFIED THEORY OF LINEARLY SOLVABLE OPTIMAL CONTROL

E. Todorov, Krishnamurthy Dvijotham, 2012 .

Optimal control with learned local models: Application to dexterous manipulation

Sergey Levine, Vikash Kumar, Emanuel Todorov, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Stochastic Differential Dynamic Programming

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

High-order local dynamic programming

Yuval Tassa, Emanuel Todorov, Yuval Tassa, 2011, 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Linearly-solvable Markov decision problems

Emanuel Todorov, E. Todorov, 2006, NIPS.

Control-limited differential dynamic programming

Yuval Tassa, Nicolas Mansard, Emanuel Todorov, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids

Emanuel Todorov, Igor Mordatch, Kendall Lowrey, 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Towards Generalization and Simplicity in Continuous Control

Sham M. Kakade, Emanuel Todorov, Aravind Rajeswaran, 2017, NIPS.

Value function approximation and model predictive control

Yuval Tassa, Emanuel Todorov, Tom Erez, 2013, 2013 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Moving least-squares approximations for linearly-solvable stochastic optimal control problems

E. Todorov, Mingyuan Zhong, 2011 .

Aggregation Methods for Lineary-Solvable Markov Decision Process

E. Todorov, Mingyuan Zhong, 2011 .

Physically-consistent sensor fusion in contact-rich behaviors

Yuval Tassa, Emanuel Todorov, Tom Erez, 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

Real-time behaviour synthesis for dynamic hand-manipulation

Yuval Tassa, Vikash Kumar, Emanuel Todorov, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system

Emanuel Todorov, Aravind Rajeswaran, Kendall Lowrey, 2018, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).

Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration

Emanuel Todorov, Zhe Xu, E. Todorov, 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

Tendon-Driven Variable Impedance Control Using Reinforcement Learning

Evangelos Theodorou, Emanuel Todorov, Yoky Matsuoka, 2012, Robotics: Science and Systems.

A low-cost and modular, 20-DOF anthropomorphic robotic hand: design, actuation and modeling

Vikash Kumar, Emanuel Todorov, Zhe Xu, 2013, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).

Optimal feedback control as a theory of motor coordination

Michael I. Jordan, Emanuel Todorov, E. Todorov, 2002, Nature Neuroscience.

Eigenfunction approximation methods for linearly-solvable optimal control problems

Emanuel Todorov, E. Todorov, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

Inverse Optimal Control with Linearly-Solvable MDPs

Emanuel Todorov, Krishnamurthy Dvijotham, E. Todorov, 2010, ICML.

Discovery of complex behaviors through contact-invariant optimization

Zoran Popovic, Emanuel Todorov, Igor Mordatch, 2012, ACM Trans. Graph..

Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems

Emanuel Todorov, Weiwei Li, E. Todorov, 2004, ICINCO.

First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing

Emanuel Todorov, Paul Kulchenko, E. Todorov, 2011, 2011 IEEE International Conference on Robotics and Automation.

Policy gradient methods with model predictive control applied to ball bouncing

E. Todorov, Paul Kulchenko, 2011 .

General duality between optimal control and estimation

Emanuel Todorov, E. Todorov, 2008, 2008 47th IEEE Conference on Decision and Control.

Iterative local dynamic programming

Yuval Tassa, Emanuel Todorov, Yuval Tassa, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

STAC: Simultaneous tracking and calibration

Javier R. Movellan, Yuval Tassa, Vikash Kumar, 2013, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).

Contact-invariant optimization for hand manipulation

Zoran Popovic, Emanuel Todorov, Igor Mordatch, 2012, SCA '12.

A local circuit approach to understanding integration of long-range inputs in primary visual cortex.

E. Todorov, M. Sur, D. Somers, 1998, Cerebral cortex.

Whole-body model-predictive control applied to the HRP-2 humanoid

Olivier Stasse, Yuval Tassa, Nicolas Mansard, 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Modeling and identification of pneumatic actuators

Yuval Tassa, Tingfan Wu, Emanuel Todorov, 2013, 2013 IEEE International Conference on Mechatronics and Automation.

Design and analysis of an artificial finger joint for anthropomorphic robotic hands

Emanuel Todorov, Yoky Matsuoka, Zhe Xu, 2011, 2011 IEEE International Conference on Robotics and Automation.

MuJoCo HAPTIX: A virtual reality system for hand manipulation

Vikash Kumar, Emanuel Todorov, E. Todorov, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

Identification and control of a pneumatic robot

Alex Simpkins, Emanuel Todorov, Javier Movellan, 2010, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands

Vikash Kumar, Emanuel Todorov, Zhe Xu, 2013, 2013 IEEE International Conference on Robotics and Automation.

From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators

Emanuel Todorov, Weiwei Li, Xiuchuan Pan, 2005, J. Field Robotics.

Analysis of the synergies underlying complex hand manipulation

E. Todorov, Z. Ghahramani, E. Todorov, 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

Cosine Tuning Minimizes Motor Errors

Emanuel Todorov, E. Todorov, 2002, Neural Computation.

Direct cortical control of muscle activation in voluntary arm movements: a model

E. Todorov, 2000, Nature Neuroscience.

Unsupervised learning of sensory-motor primitives

Zoubin Ghahramani, Emanuel Todorov, E. Todorov, 2003, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE Cat. No.03CH37439).

Universal Convexification via Risk-Aversion

Emanuel Todorov, Krishnamurthy Dvijotham, Maryam Fazel, 2014, UAI.

Goal Directed Dynamics

Emanuel Todorov, E. Todorov, 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data

Emanuel Todorov, E. Todorov, 2007, IEEE Transactions on Biomedical Engineering.

Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors

Alex Simpkins, Emanuel Todorov, E. Todorov, 2010, Proceedings of the 2010 American Control Conference.

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.

Policy gradients in linearly-solvable MDPs

Emanuel Todorov, E. Todorov, 2010, NIPS.

Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system

Emanuel Todorov, Weiwei Li, E. Todorov, 2007, Int. J. Control.

Free energy based policy gradients

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

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.

A Unifying Framework for Linearly Solvable Control pdf

Emanuel Todorov, Krishnamurthy Dvijotham, E. Todorov, 2011, UAI.

Real-time motor control using recurrent neural networks

Emanuel Todorov, Dongsung Huh, E. Todorov, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

Convexity of optimal linear controller design

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

A Model of Recurrent Interactions in Primary Visual Cortex

Emanuel Todorov, David Somers, Athanassios Siapas, 1996, NIPS.

Convex Structured Controller Design in Finite Horizon

Emanuel Todorov, Krishnamurthy Dvijotham, Maryam Fazel, 2015, IEEE Transactions on Control of Network Systems.

Reduced dimensionality control for the ACT hand

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

Convex risk averse control design

Emanuel Todorov, Krishnamurthy Dvijotham, Maryam Fazel, 2014, 53rd IEEE Conference on Decision and Control.

From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators

Emanuel Todorov, Weiwei Li, Xiuchuan Pan, 2005 .

Practical numerical methods for stochastic optimal control of biological systems in continuous time and space

Alex Simpkins, Emanuel Todorov, E. Todorov, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

Modular bio-mimetic robots that can interact with the world the way we do

Alex Simpkins, Emanuel Todorov, Michael S. Kelley, 2011, 2011 IEEE International Conference on Robotics and Automation.

Convex Structured Controller Design pdf

Emanuel Todorov, Krishnamurthy Dvijotham, Maryam Fazel, 2013, ArXiv.

Theory and Implementation of Biomimetic Motor Controllers

Emanuel Todorov, E. Todorov, 2011 .

Graphical Newton pdf

Emanuel Todorov, Akshay Srinivasan, E. Todorov, 2015, ArXiv.

Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach

Emanuel Todorov, Kendall Lowrey, Jeremy Dao, 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts

Yuval Tassa, Emanuel Todorov, Tom Erez, 2011, Robotics: Science and Systems.

High performance pneumatics using Model Predictive Control

E. Todorov, Vikash Kumar, 2016 .

Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System

Emanuel Todorov, E. Todorov, 2005, Neural Computation.

Estimation and control of systems with multiplicative noise via linear matrix inequalities

E. Todorov, Weiwei Li, R. Skelton, 2005, Proceedings of the 2005, American Control Conference, 2005..

Animating human lower limbs using contact-invariant optimization

Vladlen Koltun, Emanuel Todorov, Igor Mordatch, 2013, ACM Trans. Graph..

Optimal Control Theory

Emanuel Todorov, E. Todorov, Emanuel Todorov, 2006 .

An Iterative Optimal Control and Estimation Design for Nonlinear Stochastic System

Weiwei Li, E. Todorov, E. Todorov, 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

Reinforcement Learning and Synergistic Control of the ACT Hand

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

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).

Receding-horizon online optimization for dexterous object manipulation

T. Erez, E. Todorov, S. Kolev, 2013 .

Parallels between sensory and motor information processing

E. Todorov, 2008 .

Optimal trade-off between exploration and exploitation

Raymond A. de Callafon, Emanuel Todorov, Alex Simpkins, 2008, 2008 American Control Conference.

On the role of primary motor cortex in arm movement control

Emanuel Todorov, E. Todorov, 2003 .

Virtual Environment Training Improves Motor Performance in Two Patients with Stroke: Case Report

E. Todorov, E. Bizzi, M. Holden, 1999 .

Hierarchical optimal control of redundant biomechanical systems

Weiwei Li, E. Todorov, Xiuchuan Pan, 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

Evidence for the Flexible Sensorimotor Strategies Predicted by Optimal Feedback Control

Emanuel Todorov, Dan Liu, E. Todorov, 2007, The Journal of Neuroscience.

Stochastic optimal control for nonlinear markov jump diffusion processes

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

Infinite Horizon Optimal Control Framework for Goal Directed Movements

E. Todorov, T. Sejnowski, Dongsung Huh, 2010 .

Vector-space integration of local and long-range information in visual cortex 7

E. Todorov, M. Sur, A. Siapas, 1995 .

Inverse Optimality Design for Biological Movement Systems

E. Todorov, Weiwei Li, D. Liu, 2011 .

Imitation learning for reaching and grasping in virtual environments

E. Todorov, N. Singh, 2006 .

The UW Hand : A Low-cost , 20-DOF Tendon-driven Hand with Fast and Compliant Actuation

Emanuel Todorov, Zhe Xu, Vikash Kumar, 2012 .

Modeling Visual Cortical Contrast Adaptation Effects

E. Todorov, A. Siapas, D. Somers, 1997 .

Finding the Most Likely Trajectories of Optimally-Controlled Stochastic Systems

Emanuel Todorov, E. Todorov, 2011 .

Unsupervised learning of sensory-motor synergies

Zoubin Ghahramani, Emanuel Todorov, E. Todorov, 2003 .

Degrees of freedom and hand synergies in manipulation tasks

Zoubin Ghahramani, Emanuel Todorov, E. Todorov, 2000 .

A theory of optimal motor-sensory primitives

Zoubin Ghahramani, Emanuel Todorov, E. Todorov, 2001 .

A Biomechanical Model of the Partially Paralyzed Human Arm

Ian E. Brown, Emanuel Todorov, Rahman Davoodi, 2002 .

A Compliant Biomimetic Artificial Finger for Anthropomorphic Robotic Hands via 3 D Rapid Prototyping

E. Theodorou, E. Todorov, Vikash Kumar, 2012 .

Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control pdf

Sham M. Kakade, Emanuel Todorov, Aravind Rajeswaran, 2018, ICLR.

Complex object manipulation with hierarchical optimal control

Alex Simpkins, Emanuel Todorov, E. Todorov, 2011, 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Structured variability of muscle activations supports the minimal intervention principle of motor control.

Emanuel Todorov, Francisco J Valero-Cuevas, Madhusudhan Venkadesan, 2009, Journal of neurophysiology.

Combining the benefits of function approximation and trajectory optimization

Emanuel Todorov, Igor Mordatch, E. Todorov, 2014, Robotics: Science and Systems.

Linearly Solvable Optimal Control

E. Todorov, Krishnamurthy Dvijotham, 2013 .

Factorial Learning by Clustering Features

Joshua B. Tenenbaum, Emanuel Todorov, E. Todorov, 1994, NIPS.

Compositionality of optimal control laws

Emanuel Todorov, E. Todorov, 2009, NIPS.

Interactive Control of Diverse Complex Characters with Neural Networks

Zoran Popovic, Emanuel Todorov, Igor Mordatch, 2015, NIPS.

Engineering Sciences (Aerospace Engineering)

Robert R. Bitmead, Jochen Triesch, Emanuel Todorov, 2006 .

Learning Deep Visuomotor Policies for Dexterous Hand Manipulation

Aravind Rajeswaran, Vikash Kumar, Emanuel Todorov, 2019, 2019 International Conference on Robotics and Automation (ICRA).

Moving least-squares approximations for linearly-solvable MDP

Emanuel Todorov, Mingyuan Zhong, E. Todorov, 2011, 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL).

Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements.

Michael I. Jordan, Emanuel Todorov, Michael I. Jordan, 1998, Journal of neurophysiology.

Linearly solvable Markov games

Emanuel Todorov, Krishnamurthy Dvijotham, E. Todorov, 2012, 2012 American Control Conference (ACC).

Augmented Feedback Presented in a Virtual Environment Accelerates Learning of a Difficult Motor Task.

E Bizzi, R Shadmehr, E Todorov, 1997, Journal of motor behavior.

Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo

Emanuel Todorov, E. Todorov, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

Predicting Reaching Targets from Human EEG

H. Poizner, S. Makeig, P.S. Hammon, 2008, IEEE Signal Processing Magazine.

Physically consistent state estimation and system identification for contacts

Emanuel Todorov, Svetoslav Kolev, E. Todorov, 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

Neuromuscular stochastic optimal control of a tendon driven index finger model

Evangelos Theodorou, Emanuel Todorov, Francisco J. Valero-Cuevas, 2011, Proceedings of the 2011 American Control Conference.

Hierarchical Feedback and Learning for Multi-joint Arm Movement Control

Weiwei Li, E. Todorov, Xiuchuan Pan, 2005, 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference.

Convex control design via covariance minimization

Emanuel Todorov, Krishnamurthy Dvijotham, Maryam Fazel, 2013, 2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton).

Stochastic Complementarity for Local Control of Discontinuous Dynamics

Yuval Tassa, Emanuel Todorov, Yuval Tassa, 2010, Robotics: Science and Systems.

Optimal control methods suitable for biomechanical systems

Emanuel Todorov, W. Li, E. Todorov, 2003, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE Cat. No.03CH37439).

Revision of JN-RM-3106-07 Recurrent neural networks trained in the presence of noise give rise to mixed muscle-movement representations

Emanuel Todorov, E. Todorov, 2008 .

Time varying nonlinear Policy Gradients

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

Practical numerical methods for stochastic optimal control of biological systems in continuous time and space

E. Todorov, Alex Simpkins, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.

A new mathematical framework for optimal choice of actions

E. Todorov, 2007 .

Evidence for the Flexible Sensorimotor Strategies Predicted by Optimal Feedback Control

E. Todorov, D. Liu, 2007, The Journal of Neuroscience.

Hierarchical optimal control of a 7-DOF arm model

Dan Liu, Emanuel Todorov, E. Todorov, 2009, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning.