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PREPRINTS OF MANUSCRIPTS UNDER REVIEW OR REVISION
Contact-invariant optimization for hand manipulation
Mordatch I, Popovic, Z and Todorov E(2012). To appear in Eurographics / ACM SIGGRAPH Symposium on Computer Animation
Project Page
Discovery of complex behaviors through contact-invariant optimization
Mordatch I, Todorov E and Popovic, Z (2012). To appear in ACM SIGGRAPH
Project Page
Nonlinear policy gradient algorithms for noise-action MDPs
Dvijotham K and Todorov E (2012)
A unified theory of linearly-solvable optimal control
Dvijotham K and Todorov E (2012)
Girsanov-based policy gradient methods
Theodorou E and Todorov E (2012)
Relative entropy and free energy dualities:
Connections to path integral and KL control
Theodorou E and Todorov E (2012). To appear in IEEE CDC
Stochastic optimal control for nonlinear Markov
jump diffusion processes
Theodorou E and Todorov E (2012)
Multi-robot active SLAM with relative entropy optimization
Kontitsis M, Theodorou E and Todorov E (2012)
Synthesis and stabilization of complex
behaviors through online trajectory optimization
Tassa Y, Erez T and Todorov E (2012). To appear in IROS
Movie
Trajectory optimization for domains with contacts
using inverse dynamics
Erez T and Todorov E (2012). To appear in IROS
Design of an anthropomorphic robotic
finger system with biomimetic artificial joints
Zhe X, Kumar V, Matsuoka Y and Todorov E (2012). To appear in IEEE BioRob
A Compliant Biomimetic Artificial Finger for Anthropomorphic Robotic Hands via 3D Rapid Prototyping
Zhe X, Kumar V, Theodorou E, Matsuoka Y and Todorov E (2012)
MuJoCo: A physics engine for model-based control
Todorov E, Erez T and Tassa Y (2012). To appear in IROS
Reduced dimensionality control for the ACT hand
Malhotra M, Rombokas E, Theodorou E, Todorov E and Matsuoka Y (2011). To appear in International Conference on Robotics and Automation
Tendon-driven control of biomechanical and robotic systems:
A path-integral reinforcement learning approach
Rombokas E, Theodorou E, Malhotra M, Todorov E and Matsuoka Y (2011). To appear in International Conference on Robotics and Automation
Operations-based planning for placement and sizing of energy storate in a grid with a high penetration of renewables
Krishnamurthy D, Backhaus S and Chertkov M (2011). arXiv:1107.1382
Linearly-solvable Markov games
Krishnamurthy D and Todorov E (2011). To appear in American Control Conference
Learning and optimization of novel sensorimotor feedback loops:
Internal models meet classical conditioning
Enev M and Todorov E (2010)
Fast model predictive control for reactive robotic swimming
Tassa Y, Erez T and Todorov E (2010)
Movie
Adaptation on demand
Liu D and Todorov E (2008)
Recurrent neural networks trained in
the presence of noise give rise to mixed muscle-movement representations
Todorov E (2008)
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PHD THESES
Theory and implementation of bio-mimetic motor
controllers
Yuval Tassa (2011). Hebrew University of Jerusalem
Exploratory studies of human sensorimotor learning
with system identification and stochastic optimal control
Alex Simpkins (2009). University of California San Diego
Computational and psychophysical studies of
goal-directed arm movements
Dan Liu (2008). University of California San Diego
Optimal control for biological movement
systems
Weiwei Li (2006). University of California San Diego
Studies of goal-directed movements
Emanuel Todorov (1998). Massachusetts Institute of Technology
BOOK CHAPTERS
Linearly-solvable optimal control
Dvijotham K and Todorov E (2012). To appear in Reinforcement Learning and Approximate
Dynamic Programming for Feedback Control, Lewis (ed), chap. 6, Wiley and IEEE Press, in press
Parallels between sensory and motor information processing
Todorov E (2008). In The Cognitive Neurosciences, 4th ed, Gazzaniga (ed), MIT Press
Optimal control theory
Todorov E (2006). In Bayesian Brain: Probabilistic Approaches to Neural Coding,
Doya K at al (eds), chap 12, pp 269-298, MIT Press
On the role of primary motor cortex
in arm movement control
Todorov E (2003). In Progress in Motor Control III, ch 6, pp 125-166,
Latash and Levin (eds), Human Kinetics
Use of virtual environments in motor
learning and rehabilitation
Holden M and Todorov E (2002). In Handbook of Virtual Environments, ch
49, pp 999-1026, Stanney K (ed), Lawrence Erlbaum Associates
Variable gain control in local cortical circuitry supports context-dependent
modulation by long-range connections
Somers D, Toth L, Todorov E et al (1996).
In Lateral Interactions in Cortex -
Structure and Function, ch 4, Sirosh et al (eds),
Online Book
PEER-REVIEWED PAPERS
Optimal limit-cycle control recast as Bayesian inference
Tassa Y, Erez T and Todorov E (2011). In World Congress of the International Federation of Automatic Control
Aggregation methods for linearly-solvable MDPs
Zhong M and Todorov E (2011). In World Congress of the International Federation of Automatic Control
Finding the most likely trajectories of
optimally-controlled stochastic systems
Todorov E (2011). In World Congress of the International Federation of Automatic Control
Inverse optimality design for biological movement systems
Li W, Todorov E and Liu D (2011). In World Congress of the International Federation of Automatic Control
A unifying framework for linearly-solvable control
Krishnamurthy D and Todorov E (2011). In Uncertainty in Artificial Intelligence
Infinite-horizon model predictive control for nonlinear
periodic tasks with contacts
Erez T, Tassa Y and Todorov E (2011). In Robotics: Science and Systems
Neuromuscular stochastic optimal control of a
tendon-driven index finger model
Theodorou E, Todorov E and Valero-Cuevas F (2011). In American Control Conference
Design and analysis of an artificial finger joint
for anthropomorphic robotic hands
Xu Z, Todorov E, Dellon B, Matsuoka Y (2011). In International Conference on Robotics and Automation
Modular bio-mimetic robots that can interact with the world the way we do
Simpkins A, Kelley M and Todorov E (2011). In International Conference on Robotics and Automation
A convex, smooth and invertible contact model
for trajectory optimization
Todorov E (2011). In International Conference on Robotics and Automation
Movie
First-exit model predictive control of fast
discontinuous dynamics: Application to ball bouncing
Kulchenko P and Todorov E (2011). In International Conference on Robotics and Automation
Movie
Complex object manipulation with hierarchical optimal control
Simpkins A and Todorov E (2011). In IEEE Adaptive Dynamic Programming and Reinforcement Learning
Policy gradient methods with model predictive control
applied to ball bouncing
Kulchenko P and Todorov E (2011). In IEEE Adaptive Dynamic Programming and Reinforcement Learning
Moving least-squares approximations for linearly-solvable stochastic optimal control problems
Zhong M and Todorov E (2011). J Control Theory Appl, 9(3): 451-463
Moving least-squares approximations for linearly-
solvable optimal control problems
Zhong M and Todorov E (2011). In IEEE Adaptive Dynamic Programming and Reinforcement Learning
High-order local dynamic programming
Tassa Y and Todorov E (2011). In IEEE Adaptive Dynamic Programming and Reinforcement Learning
Movie
Policy gradients in linearly-solvable MDPs
Todorov E (2010). In Advances in Neural Information Processing Systems 24
Inverse optimal control with linearly-solvable MDPs
Krishnamurthy D and Todorov E (2010). In International Conference on Machine Learning
Identification and control of a pneumatic robot
Todorov E, Hu C, Simpkins A and Movellan J (2010). In IEEE BioRob
Movie1;
Movie2;
Movie3
Stochastic complementarity for local control of
discontinuous dynamics
Tassa Y and Todorov E (2010).
In Robotics: Science and Systems
Movie
Position estimation and control of compact BLDC motors
based on analog linear Hall effect sensors
Simpkins A and Todorov E (2010). In American Control Conference
Stochastic differential dynamic programming
Theodorou E, Tassa Y and Todorov E (2010). In American Control Conference
Implicit nonlinear complementarity: A new approach
to contact dynamics
Todorov E (2010). In International Conference on Robotics and Automation
Movie
A first optimal control solution for a complex,
nonlinear, tendon driven neuromuscular finger model
Theodorou E, Todorov E and Valero-Cuevas F (2010). In
ASME Summer Bioengineering Conference
Compositionality of optimal control laws
Todorov E (2009). In Advances in Neural Information Processing Systems 22,
pp 1856-1864, Bengio et al (eds), MIT Press
Efficient computation of optimal actions
Todorov E (2009). PNAS, 106(28): 11478-11483
Commentary;
Supplementary information
Structured variability of muscle
activations supports the minimal intervention principle of motor control
Valero-Cuevas F, Venkadesan M and Todorov E (2009). Journal of Neurophysiology,
102: 59-68
Journal cover
Eigenfunction approximation methods
for linearly-solvable optimal control problems
Todorov E (2009). In proceedings of the 2nd IEEE Symposium on Adaptive Dynamic Programming
and Reinforcement Learning, pp 161 - 168
Hierarchical optimal control of a 7-DOF
arm model
Liu D and Todorov E (2009). In proceedings of the 2nd IEEE Symposium on
Adaptive Dynamic Programming and Reinforcement Learning, pp 50 - 57
Practical numerical methods for stochastic
optimal control of biological systems in continuous time and space
Simpkins A and Todorov E (2009). In proceedings of the 2nd IEEE Symposium on
Adaptive Dynamic Programming and Reinforcement Learning, pp 212 - 218
Real-time motor control using recurrent neural
networks
Huh D and Todorov E (2009). In proceedings of the 2nd IEEE Symposium on
Adaptive Dynamic Programming and Reinforcement Learning, pp 42 - 49
Iterative local dynamic programming
Todorov E and Tassa Y (2009). In proceedings of the 2nd IEEE Symposium on
Adaptive Dynamic Programming and Reinforcement Learning), pp 90 - 95
General duality between optimal control and estimation
Todorov E (2008). In proceedings of the 47th IEEE Conference on Decision and Control,
pp 4286 - 4292
Optimal trade-off between exploration and exploitation
Simpkins A, de Callafon R and Todorov E (2008).
In proceedings of the American Control Conference, pp 33-38
Predicting reaching targets from human EEG
Hammon P, Makeig S, Poizner H, Todorov E and de Sa V (2007).
IEEE Signal Processing Magazine, 25: 69-77
Evidence for the flexible sensorimotor strategies predicted by optimal
feedback control
Liu D and Todorov E (2007). Journal of Neuroscience, 27: 9354-9368
Iterative linearization methods for approximately optimal control and estimation
of non-linear stochastic systems
Li W and Todorov E (2007). International Journal of Control, 80: 1439-1453
Probabilistic inference of multi-joint movements, skeletal parameters and
marker attachments from diverse sensor data
Todorov E (2007). IEEE Transactions on Biomedical Engineering, 54: 1927-1939
State estimation with finite
signals-to-noise models via linear matrix inequalities
Li W, Skelton R and Todorov E (2007). Journal of Dynamic Systems,
Measurement and Control, 129: 136-143
Linearly-solvable Markov decision problems
Todorov E (2006). In Advances in Neural Information Processing Systems 19: 1369-1376,
Scholkopf et al (eds), MIT Press
Iterative optimal control and estimation
design for nonlinear stochastic systems
Li W and Todorov E (2006). In proceedings of the 45th IEEE Conference on Decision
and Control, pp 3242-3247
Imitiation learning for reaching and grasping in virtual environments
Singh N and Todorov E (2006). In proceedings of the 5th International Conference
on Development and Learning
From task parameters to motor
synergies: A hierarchical framework for approximately-optimal control of
redundant manipulators
Todorov E, Li W and Pan X (2005). Journal of Robotic Systems,
22(11):691-710
Towards an integrated systems for
estimating multi-joint movement from diverse sensor data
Pan X, Todorov E and Li W (2005). In proceedings of the 27th Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, 4982-4985
Hierarchical feedback and learning for
multi-joint arm movement control
Li W, Todorov E and Pan X (2005). In proceedings of the 27th Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, pp 4400-4403
A generalized iterative LQG method for
locally-optimal feedback control of constrained nonlinear stochastic systems
Todorov E and Li W (2005). In proceedings of the American Control Conference,
pp 300-306
Estimation and control of systems with
multiplicative noise via linear matrix inequalities
Li W, Skelton R and Todorov E (2005). In proceedings of the American Control
Conference, pp 1811-1816
Stochastic optimal control and
estimation methods adapted to the noise characteristics of the sensorimotor
system
Todorov E (2005). Neural Computation, 17(5): 1084-1108
Hierarchical optimal control of redundant
biomechanical systems
Li W, Todorov E and Pan X (2004). In proceedings of the 26th Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, pp 4618-4621
Development of clinician-friendly
software for musculoskeletal modeling and control
Davoodi R, Urata C, Todorov E and Loeb G (2004). In proceedings of the 26th
Annual International Conference of the IEEE Engineering in Medicine and Biology
Society, pp 4622-4625
Analysis of the synergies underlying
complex hand manipulation
Todorov E and Ghahramani Z (2004). In proceedings of the 26th Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, pp 4637-4640
Iterative linear-quadratic regulator
design for nonlinear biological movement systems
Li W and Todorov E (2004). In proceedings of the 1st International Conference on
Informatics in Control, Automation and Robotics, vol 1, pp 222-229
Optimality principles in
sensorimotor control
Todorov E (2004). Nature Neuroscience 7(9): 907-915
Optimal control methods suitable for
biomechanical systems
Todorov E and Li W (2003). In proceedings of the 25th Annual International
Conference of the IEEE Engineering in Medicine and Biology Society, pp
1758-1761
Unsupervised learning of sensory-motor
primitives
Todorov E and Ghahramani Z (2003). In proceedings of the 25th Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, pp 1750-1753
A minimal intervention principle for
coordinated movement
Todorov E and Jordan M (2003). In Advances in Neural Information Processing
Systems 15: 27-34, Becker et al (eds), MIT Press
Optimal feedback control as a
theory of motor coordination
Todorov E and Jordan M (2002). Nature Neuroscience 5(11): 1226-1235
News and views;
Neuroscience news;
Supplementary information
A biomechanical model of the partially
paralyzed human arm
Davoodi R, Brown I, Todorov E and Loeb G (2002). In proceedings of the 7th
Annual Conference of the International Functional Electric Stimulation Society
Cosine tuning minimizes motor errors
Todorov E (2002). Neural Computation 14(6): 1233-1260
One motor cortex, two different views
Todorov E, debate with Georgopoulos A, Ashe J, Moran D, Schwartz A and Scott S (2000). Nature
Neuroscience 3(10): 963-965
Direct cortical control of muscle activation
in voluntary arm movements: a model
Todorov E (2000). Nature Neuroscience 3(4): 391-398
News and views
Virtual environment training improves motor performance
in two patients with stroke
Holden M, Todorov E, Callahan J and Bizzi E (1999). Neurology Report 23(2):
57-67
Smoothness maximization along a
predefined path accurately predicts the speed profiles of complex arm movements
Todorov E and Jordan M (1998). Journal of Neurophysiology 80(2): 696-714
A local circuit approach to understanding
integration of long-range inputs in primary visual cortex
Somers D, Todorov E et al (1998). Cerebral Cortex 8(3): 204-211
Augmented feedback presented in a
virtual environment accelerates learning of a difficult motor task
Todorov E, Shadmehr R and Bizzi E (1997). Journal of Motor Behavior 29(2):
147-158
Modeling visual cortical contrast
adaptation effects
Todorov E, Siapas A, Somers D and Nelson S (1997). In Computational
Neuroscience: Trends in Reseach 5: 525-531, Bower (ed), Kluwer Academic
A local circuit integration approach to
understanding visual cortical receptive fields
Somers D, Todorov E and Siapas A (1997). In Computational Neuroscience: Trends
in Reseach 5: 505-510, Bower (ed), Kluwer Academic
A model of recurrent interactions in
primary visual cortex
Todorov E, Siapas A and Somers D (1997). In Advances in Neural Information
Processing Systems 9: 118-126, Mozer, Jordan, Petsche (eds), MIT Press
Catastrophic interference in human
motor learning
Brashers-Krug T, Shadmehr R and Todorov E (1995). In Advances in Neural
Information Processing Systems 7: 19-26, Tesauro, Touretzky, Leen
(eds), MIT Press
Factorial learning by clustering
features
Tenenbaum J and Todorov E (1995). In Advances in Neural Information Processing
Systems 7: 561-568, Tesauro, Touretzky, Leen (eds), MIT Press
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