OVERVIEW PROJECTS PAPERS PEOPLE LAB CLASSES

PREPRINTS

Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids
Mordatch I, Lowrey K and Todorov E, submitted to International Conference on Robotics and Automation
Movie

Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX
Erez T, Tassa Y and Todorov E, submitted to International Conference on Robotics and Automation
Movie

Convex risk-averse control design
Dvijotham K, Todorov E and Fazel M, to appear in IEEE Conference on Decision and Control

Convex structured controller design in finite horizon
Dvijotham K, Todorov E and Fazel M, to appear in IEEE Transactions on Control of Network Systems
arXiv page

Receding-horizon online optimization for dexterous object manipulation
Erez T, Kolev S and Todorov E
Movie

A unified theory of linearly-solvable optimal control
Dvijotham K and Todorov E

PHD THESES

Automating stochastic control
Krishnamurthy Dvijotham (2014). University of Washington

Value-function approximation methods for linearly-solvable Markov decision processes
Minguyan Zhong (2013). University of Washington

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 ystems
Weiwei Li (2006). University of California San Diego

Studies of goal-directed movements
Emanuel Todorov (1998). Massachusetts Institute of Technology

PEER-REVIEWED PUBLICATIONS BY YEAR

- 2014 -

Universal convexification via risk-aversion
Dvijotham K, Fazel M and Todorov E (2014). In Uncertainty in Artificial Intelligence
Facebook Best Student Paper

Combining the benefits of function approximation and trajectory optimization
Mordatch I and Todorov E (2014). In Robotics: Science and Systems
Movie

Physically-consistent sensor fusion in contact-rich behaviors
Lowrey K, Kolev S, Tassa Y, Erez T and Todorov E (2014). In IEEE/RAS International Conference on Intelligent Robots and Systems
Movie

From inverse kinematics to optimal control
Geoffroy P, Mansard N, Raison M, Achiche S, Tassa Y and Todorov E (2014). In Advances in Robot Kinematics 2014

Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo
Todorov E (2014). In International Conference on Robotics and Automation
Movie

Control-limited Differential Dynamic Programming
Tassa Y, Mansard N and Todorov E (2014). In International Conference on Robotics and Automation
Movie

Real-time behaviour synthesis for dynamic hand manipulation
Kumar V, Tassa Y, Erez T and Todorov E (2014). In International Conference on Robotics and Automation
Movie

Design, optimization, calibration and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation
Xu Z, Kolev S and Todorov E (2014). In International Conference on Robotics and Automation
Movie

- 2013 -

Animating human lower limbs using Contact-Invariant Optimization
Mordatch I, Wang J, Todorov E and Koltun V (2013). In SIGGRAPH ASIA
Movie

Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands
Kumar V, Xu Z and Todorov E (2013). In International Conference on Robotics and Automation
Movie

STAC: Simultaneous tracking and calibration
Wu T, Tassa Y, Kumar V, Movellan J and Todorov E (2013). In IEEE/RAS International Conference on Humanoid Robots
Movie

A low-cost and modular, 20-DOF anthropomorphic robotic hand: Design, actuation and modeling
Xu Z, Kumar V and Todorov E (2013). In IEEE/RAS International Conference on Humanoid Robots
Movie

An integrated system for real-time model-predictive control of humanoid robots
Erez T, Lowrey K, Tassa Y, Kumar V, Kolev S and Todorov E (2013). In IEEE/RAS International Conference on Humanoid Robots
Movie

Convex control design via covariance minimization
Dvijotham K, Todorov E and Fazel M (2013). In 51st Annual Allerton Conference on Communication, Control, and Computing

Convexity of optimal linear controller design
Dvijotham K, Theodorou E, Todorov E and Fazel M (2013). In IEEE Conference on Decision and Control

Time-varying nonlinear policy gradients
Theodorou E, Dvijotham K, and Todorov E (2013). In IEEE Conference on Decision and Control

Modeling and identification of pneumatic actuators
Tassa Y, Wu T, Movellan J and Todorov E (2013). In IEEE International Conference on Mechatronics and Automation
Best paper finalist

From information-theoretic dualities to path-integral and Kullback Leibler control: Continuous and discrete-time formulationis
Theodorou E, Dvijotham K and Todorov E (2013). In 16th Yale Workshop on Learning and Adaptive Systems

Multi-robot active SLAM with relative entropy optimization
Kontitsis M, Theodorou E and Todorov E (2013). In American Control Conference

The delta-sensitivity and its application to stochastic optimal control of nonlinear diffusions
Theodorou E and Todorov E (2013). In American Control Conference

Free energy based policy gradients
Theodorou E, Najemnik J and Todorov E (2013). In IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

Value function approximation and model-predictive control
Zhong M, Johnson M, Tassa Y, Erez T and Todorov E (2013). In IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

- 2012 -

Linearly-solvable Markov games
Dvijotham K and Todorov E (2012). In American Control Conference

Information theoretic views on path-integral control
Theodorou E and Todorov E (2012). In NIPS Workshop on Information of Action and Perception

Reduced dimensionality control for the ACT hand
Malhotra M, Rombokas E, Theodorou E, Todorov E and Matsuoka Y (2012). 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 (2012). In International Conference on Robotics and Automation

MuJoCo: A physics engine for model-based control
Todorov E, Erez T and Tassa Y (2012). In IEEE/RSJ International Conference on Intelligent Robots and Systems

Design of an anthropomorphic robotic finger system with biomimetic artificial joints
Xu Z, Kumar V, Matsuoka Y and Todorov E (2012). In IEEE Biomedical Robotics and Biomechatronics

Synthesis and stabilization of complex behaviors through online trajectory optimization
Tassa Y, Erez T and Todorov E (2012). In IEEE/RSJ International Conference on Intelligent Robots and Systems
Movie

Trajectory optimization for domains with contacts using inverse dynamics
Erez T and Todorov E (2012). In IEEE/RSJ International Conference on Intelligent Robots and Systems

Stochastic optimal control for nonlinear Markov jump diffusion processes
Theodorou E and Todorov E (2012). In American Control Conference

Relative entropy and free energy dualities: Connections to path integral and KL control
Theodorou E and Todorov E (2012). In IEEE Conference on Decision and Control

Contact-invariant optimization for hand manipulation
Mordatch I, Popovic, Z and Todorov E(2012). 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). In ACM SIGGRAPH
Project Page

Linearly-solvable optimal control
Dvijotham K and Todorov E (2012). In Reinforcement Learning and Approximate Dynamic Programming for Feedback Control, Lewis (ed), chap. 6, Wiley and IEEE Press

- 2011 -

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
Dvijotham K 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

- 2010 -

Policy gradients in linearly-solvable MDPs
Todorov E (2010). In Advances in Neural Information Processing Systems 24

Inverse optimal control with linearly-solvable MDPs
Dvijotham K 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 Biomedical Robotics and Biomechatronics
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

- 2009 -

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

- 2008 -

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

Parallels between sensory and motor information processing
Todorov E (2008). In The Cognitive Neurosciences, 4th ed, Gazzaniga (ed), MIT Press

- 2007 -

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

- 2006 -

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

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

- 2005 -

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, pp 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

- 2004 -

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

- 2003 -

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

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

- 2002 -

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

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

- 2000 and earlier -

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

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

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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