Emanuel Todorov

发表

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).

A convex, smooth and invertible contact model for trajectory optimization

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

Convex control design via covariance minimization

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

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.

A Minimal Intervention Principle for Coordinated Movement

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

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.

Towards Generalization and Simplicity in Continuous Control

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

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.

Combining the benefits of function approximation and trajectory optimization

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

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).

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

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

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.

Factorial Learning by Clustering Features

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

A theory of optimal motor-sensory primitives

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

STAC: Simultaneous tracking and calibration

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

Learning Dexterous Manipulation Policies from Experience and Imitation pdf

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

Efficient computation of optimal actions

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

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).

Modeling Social Common Sense for Seamless Human Machine Teaming: Inverting the Intuitive Game Engine with Probabilistic Programming

Joshua B. Tenenbaum, Chris I. Baker, Tao Gao, 2017 .

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).

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.

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.

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).

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).

Policy gradients in linearly-solvable MDPs

Emanuel Todorov, E. Todorov, 2010, NIPS.

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.

Modeling and identification of pneumatic actuators

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

Reduced dimensionality control for the ACT hand

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

Multi-robot active SLAM with relative entropy optimization

Evangelos Theodorou, Emanuel Todorov, Michail Kontitsis, 2013, 2013 American Control Conference.

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.

Eigenfunction approximation methods for linearly-solvable optimal control problems

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

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).

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.

Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation

Emanuel Todorov, Zhe Xu, Svetoslav Kolev, 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

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).

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

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

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

Emanuel Todorov, Weiwei Li, Xiuchuan Pan, 2005 .

Interactive Control of Diverse Complex Characters with Neural Networks

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

Convex Structured Controller Design in Finite Horizon

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

Iterative local dynamic programming

Yuval Tassa, Emanuel Todorov, Yuval Tassa, 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.

Tendon-Driven Variable Impedance Control Using Reinforcement Learning

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

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.

Animating human lower limbs using contact-invariant optimization

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

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.

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).

Discovery of complex behaviors through contact-invariant optimization

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

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).

Theory and Implementation of Biomimetic Motor Controllers

Emanuel Todorov, E. Todorov, 2011 .

Convex Structured Controller Design pdf

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

Control-limited differential dynamic programming

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

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).

Contact-invariant optimization for hand manipulation

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

Real-time behaviour synthesis for dynamic hand-manipulation

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

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.

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.

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.

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.

Stochastic optimal control and Bayesian inference: an emerging theoretical framework for sensorimotor integration

Emanuel Todorov, 2007 .

Unsupervised learning of sensory-motor synergies

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

Compositionality of optimal control laws

Emanuel Todorov, E. Todorov, 2009, NIPS.

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.

Free energy based policy gradients

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

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

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

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).

Convex risk averse control design

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

Stochastic Complementarity for Local Control of Discontinuous Dynamics

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

Linearly solvable Markov games

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

Cosine Tuning Minimizes Motor Errors

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

Graphical Newton pdf

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

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).

Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts

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

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).

General duality between optimal control and estimation

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

A Unifying Framework for Linearly Solvable Control pdf

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

Inverse Optimal Control with Linearly-Solvable MDPs

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

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.

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.

Implicit nonlinear complementarity: A new approach to contact dynamics

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

Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems

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

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).

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).

A Model of Recurrent Interactions in Primary Visual Cortex

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

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).

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).

Stochastic optimal control for nonlinear markov jump diffusion processes

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

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).

Time varying nonlinear Policy Gradients

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

Computing the Newton-step faster than Hessian accumulation pdf

Emanuel Todorov, Akshay Srinivasan, 2021, ArXiv.

A Biomechanical Model of the Partially Paralyzed Human Arm

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

State Estimation With Finite Signal-to-Noise Models via Linear Matrix Inequalities

Robert E. Skelton, Emanuel Todorov, Weiwei Li, 2007 .

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

Emanuel Todorov, Zhe Xu, Vikash Kumar, 2012 .

Finding the Most Likely Trajectories of Optimally-Controlled Stochastic Systems

Emanuel Todorov, E. Todorov, 2011 .