Emanuel Todorov

Publication Activity (10 Years)

Years Active: 1994-2021
Publications (10 Years): 25

Top Topics

State Estimation

Top Venues

Publications

Akshay Srinivasan, Emanuel Todorov
Computing the Newton-step faster than Hessian accumulation. CoRR (2021)
Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha S. Srinivasa, Emanuel Todorov
Lyceum: An efficient and scalable ecosystem for robot learning. CoRR (2020)
Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha S. Srinivasa, Emanuel Todorov
Lyceum: An efficient and scalable ecosystem for robot learning. L4DC (2020)
Divye Jain, Andrew Li, Shivam Singhal, Aravind Rajeswaran, Vikash Kumar, Emanuel Todorov
Learning Deep Visuomotor Policies for Dexterous Hand Manipulation. ICRA (2019)
Kendall Lowrey, Aravind Rajeswaran, Sham M. Kakade, Emanuel Todorov, Igor Mordatch
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control. ICLR (Poster) (2019)
Emanuel Todorov
Goal Directed Dynamics. ICRA (2018)
Kendall Lowrey, Aravind Rajeswaran, Sham M. Kakade, Emanuel Todorov, Igor Mordatch
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control. CoRR (2018)
Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. CoRR (2018)
Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. SIMPAR (2018)
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, Sergey Levine
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations. Robotics: Science and Systems (2018)
Aravind Rajeswaran, Kendall Lowrey, Emanuel Todorov, Sham M. Kakade
Towards Generalization and Simplicity in Continuous Control. NIPS (2017)
Aravind Rajeswaran, Kendall Lowrey, Emanuel Todorov, Sham M. Kakade
Towards Generalization and Simplicity in Continuous Control. CoRR (2017)
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, John Schulman, Emanuel Todorov, Sergey Levine
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations. CoRR (2017)
Vikash Kumar, Emanuel Todorov, Sergey Levine
Optimal control with learned local models: Application to dexterous manipulation. ICRA (2016)
Kendall Lowrey, Jeremy Dao, Emanuel Todorov
Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach. Humanoids (2016)
Vikash Kumar, Abhishek Gupta, Emanuel Todorov, Sergey Levine
Learning Dexterous Manipulation Policies from Experience and Imitation. CoRR (2016)
Zhe Xu, Emanuel Todorov
Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. ICRA (2016)
Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel
Convex Structured Controller Design in Finite Horizon. IEEE Trans. Control. Netw. Syst. 2 (1) (2015)
Svetoslav Kolev, Emanuel Todorov
Physically consistent state estimation and system identification for contacts. Humanoids (2015)
Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS (2015)
Akshay Srinivasan, Emanuel Todorov
Graphical Newton. CoRR (2015)
Igor Mordatch, Kendall Lowrey, Emanuel Todorov
Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids. IROS (2015)
Vikash Kumar, Emanuel Todorov
MuJoCo HAPTIX: A virtual reality system for hand manipulation. Humanoids (2015)
Tom Erez, Yuval Tassa, Emanuel Todorov
Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX. ICRA (2015)
Igor Mordatch, Kendall Lowrey, Galen Andrew, Zoran Popovic, Emanuel Todorov
Interactive Control of Diverse Complex Characters with Neural Networks. NIPS (2015)
Vikash Kumar, Yuval Tassa, Tom Erez, Emanuel Todorov
Real-time behaviour synthesis for dynamic hand-manipulation. ICRA (2014)
Emanuel Todorov
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo. ICRA (2014)
Zhe Xu, Svetoslav Kolev, Emanuel Todorov
Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation. ICRA (2014)
Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov
Convex risk averse control design. CDC (2014)
Kendall Lowrey, Svetoslav Kolev, Yuval Tassa, Tom Erez, Emanuel Todorov
Physically-consistent sensor fusion in contact-rich behaviors. IROS (2014)
Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov
Universal Convexification via Risk-Aversion. CoRR (2014)
Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov
Universal Convexification via Risk-Aversion. UAI (2014)
Vikash Kumar, Zhe Xu, Emanuel Todorov
Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands. ICRA (2013)
Krishnamurthy Dvijotham, Evangelos A. Theodorou, Emanuel Todorov, Maryam Fazel
Convexity of optimal linear controller design. CDC (2013)
Tingfan Wu, Yuval Tassa, Vikash Kumar, Javier R. Movellan, Emanuel Todorov
STAC: Simultaneous tracking and calibration. Humanoids (2013)
Michail Kontitsis, Evangelos A. Theodorou, Emanuel Todorov
Multi-robot active SLAM with relative entropy optimization. ACC (2013)
Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel
Convex control design via covariance minimization. Allerton (2013)
Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel
Convex Structured Controller Design. CoRR (2013)
Evangelos A. Theodorou, Jiri Najemnik, Emanuel Todorov
Free energy based policy gradients. ADPRL (2013)
Igor Mordatch, Jack M. Wang, Emanuel Todorov, Vladlen Koltun
Animating human lower limbs using contact-invariant optimization. ACM Trans. Graph. 32 (6) (2013)
Evangelos A. Theodorou, Emanuel Todorov
Stochastic optimal control for nonlinear markov jump diffusion processes. ACC (2012)
Tom Erez, Emanuel Todorov
Trajectory optimization for domains with contacts using inverse dynamics. IROS (2012)
Mark Malhotra, Eric Rombokas, Evangelos A. Theodorou, Emanuel Todorov, Yoky Matsuoka
Reduced dimensionality control for the ACT hand. ICRA (2012)
Evangelos A. Theodorou, Emanuel Todorov
Relative entropy and free energy dualities: Connections to Path Integral and KL control. CDC (2012)
Emanuel Todorov, Tom Erez, Yuval Tassa
MuJoCo: A physics engine for model-based control. IROS (2012)
Yuval Tassa, Tom Erez, Emanuel Todorov
Synthesis and stabilization of complex behaviors through online trajectory optimization. IROS (2012)
Igor Mordatch, Zoran Popovic, Emanuel Todorov
Contact-Invariant Optimization for Hand Manipulation. Symposium on Computer Animation (2012)
Krishnamurthy Dvijotham, Emanuel Todorov
A Unifying Framework for Linearly Solvable Control CoRR (2012)
Igor Mordatch, Emanuel Todorov, Zoran Popovic
Discovery of complex behaviors through contact-invariant optimization. ACM Trans. Graph. 31 (4) (2012)
Zhe Xu, Emanuel Todorov, Brian Dellon, Yoky Matsuoka
Design and analysis of an artificial finger joint for anthropomorphic robotic hands. ICRA (2011)
Emanuel Todorov
A convex, smooth and invertible contact model for trajectory optimization. ICRA (2011)
Alex Simpkins, Michael S. Kelley, Emanuel Todorov
Modular bio-mimetic robots that can interact with the world the way we do. ICRA (2011)
Yuval Tassa, Emanuel Todorov
High-order local dynamic programming. ADPRL (2011)
Paul Kulchenko, Emanuel Todorov
First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing. ICRA (2011)
Tom Erez, Yuval Tassa, Emanuel Todorov
Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts. Robotics: Science and Systems (2011)
Mingyuan Zhong, Emanuel Todorov
Moving least-squares approximations for linearly-solvable MDP. ADPRL (2011)
Krishnamurthy Dvijotham, Emanuel Todorov
A Unifying Framework for Linearly Solvable Control. UAI (2011)
Alex Simpkins, Emanuel Todorov
Complex object manipulation with hierarchical optimal control. ADPRL (2011)
Evangelos A. Theodorou, Emanuel Todorov, Francisco J. Valero Cuevas
Neuromuscular stochastic optimal control of a tendon driven index finger model. ACC (2011)
Krishnamurthy Dvijotham, Emanuel Todorov
Inverse Optimal Control with Linearly-Solvable MDPs. ICML (2010)
Alex Simpkins, Emanuel Todorov
Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors. ACC (2010)
Emanuel Todorov
Implicit nonlinear complementarity: A new approach to contact dynamics. ICRA (2010)
Emanuel Todorov
Policy gradients in linearly-solvable MDPs. NIPS (2010)
Dongsung Huh, Emanuel Todorov
Real-time motor control using recurrent neural networks. ADPRL (2009)
Dan Liu, Emanuel Todorov
Hierarchical optimal control of a 7-DOF arm model. ADPRL (2009)
C. Alexander Simpkins, Emanuel Todorov
Practical numerical methods for stochastic optimal control of biological systems in continuous time and space. ADPRL (2009)
Emanuel Todorov
Compositionality of optimal control laws. NIPS (2009)
Emanuel Todorov
Efficient computation of optimal actions. Proc. Natl. Acad. Sci. USA 106 (28) (2009)
Emanuel Todorov
Eigenfunction approximation methods for linearly-solvable optimal control problems. ADPRL (2009)
Emanuel Todorov, Yuval Tassa
Iterative local dynamic programming. ADPRL (2009)
Paul S. Hammon, Scott Makeig, Howard Poizner, Emanuel Todorov, Virginia R. de Sa
Predicting Reaching Targets from Human EEG. IEEE Signal Process. Mag. 25 (1) (2008)
Alex Simpkins, Raymond A. de Callafon, Emanuel Todorov
Optimal trade-off between exploration and exploitation. ACC (2008)
Emanuel Todorov
General duality between optimal control and estimation. CDC (2008)
Emanuel Todorov
Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data. IEEE Trans. Biomed. Eng. 54 (11) (2007)
Weiwei Li, Emanuel Todorov
Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system. Int. J. Control 80 (9) (2007)
Weiwei Li, Emanuel Todorov
An Iterative Optimal Control and Estimation Design for Nonlinear Stochastic System. CDC (2006)
Emanuel Todorov
Linearly-solvable Markov decision problems. NIPS (2006)
Emanuel Todorov
Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System. Neural Comput. 17 (5) (2005)
Weiwei Li, Emanuel Todorov, Robert E. Skelton
Estimation and control of systems with multiplicative noise via linear matrix inequalities. ACC (2005)
Emanuel Todorov, Weiwei Li, Xiuchuan Pan
From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators. J. Field Robotics 22 (11) (2005)
Emanuel Todorov, Weiwei Li
A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems. ACC (2005)
Weiwei Li, Emanuel Todorov
Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. ICINCO (1) (2004)
Emanuel Todorov
Cosine Tuning Minimizes Motor Errors. Neural Comput. 14 (6) (2002)
Emanuel Todorov, Michael I. Jordan
A Minimal Intervention Principle for Coordinated Movement. NIPS (2002)
Emanuel Todorov, Athanassios Siapas, David Somers
A Model of Recurrent Interactions in Primary Visual Cortex. NIPS (1996)
Tom Brashers-Krug, Reza Shadmehr, Emanuel Todorov
Catastrophic Interference in Human Motor Learning. NIPS (1994)
Joshua B. Tenenbaum, Emanuel Todorov
Factorial Learning by Clustering Features. NIPS (1994)