Todd D. Murphey

ORCID

Publication Activity (10 Years)

Years Active: 2001-2024
Publications (10 Years): 147

Top Venues

CoRR

ACC

Robotics: Science and Systems

IEEE Trans. Robotics

Publications

Thomas A. Berrueta, Todd D. Murphey, Ryan L. Truby
Materializing Autonomy in Soft Robots across Scales. Adv. Intell. Syst. 6 (2) (2024)
Muchen Sun, Francesca Baldini, Peter Trautman, Todd D. Murphey
Mixed-Strategy Nash Equilibrium for Crowd Navigation. CoRR (2024)
Muchen Sun, Ayush Gaggar, Peter Trautman, Todd D. Murphey
Fast Ergodic Search with Kernel Functions. CoRR (2024)
Jake Ketchum, Ahalya Prabhakar, Todd D. Murphey
Active Exploration for Real-Time Haptic Training. CoRR (2024)
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Maximum diffusion reinforcement learning. Nat. Mac. Intell. 6 (5) (2024)
Taosha Fan, Todd D. Murphey
Majorization Minimization Methods for Distributed Pose Graph Optimization. IEEE Trans. Robotics 40 (2024)
Muchen Sun, Peter Trautman, Todd D. Murphey
Human Robot Pacing Mismatch. CoRR (2024)
Jake Ketchum, Ahalya Prabhakar, Todd D. Murphey
Active Exploration for Real-Time Haptic Training. ICRA (2024)
Torsten Kroeger, Brian P. Gerkey, Paul Goldberg, Todd D. Murphey, Frank Park
A New RAS Journal: IEEE Robotics and Automation Practice [Society News]. IEEE Robotics Autom. Mag. 31 (1) (2024)
Allison Pinosky, Ian Abraham, Alexander Broad, Brenna Argall, Todd D. Murphey
Hybrid control for combining model-based and model-free reinforcement learning. Int. J. Robotics Res. 42 (6) (2023)
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
Learning Stable Models for Prediction and Control. IEEE Trans. Robotics 39 (3) (2023)
Katarina Popovic, Millicent Schlafly, Ahalya Prabhakar, Christopher Kim, Todd D. Murphey
Measuring Human-Robot Team Benefits Under Time Pressure in a Virtual Reality Testbed. IROS (2023)
Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. Robotics: Science and Systems (2023)
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Scale-Invariant Specifications for Human-Swarm Systems. Field Robotics 3 (1) (2023)
Wanxin Jin, Todd D. Murphey, Dana Kulic, Neta Ezer, Shaoshuai Mou
Learning From Sparse Demonstrations. IEEE Trans. Robotics 39 (1) (2023)
Aleksandra Kalinowska, Patrick M. Pilarski, Todd D. Murphey
Embodied Communication: How Robots and People Communicate Through Physical Interaction. Annu. Rev. Control. Robotics Auton. Syst. 6 (2023)
Jake Ketchum, Sophia Schiffer, Muchen Sun, Pranav Kaarthik, Ryan L. Truby, Todd D. Murphey
Automated Gait Generation For Walking, Soft Robotic Quadrupeds. CoRR (2023)
Larisa Y. C. Loke, Demiana R. Barsoum, Todd D. Murphey, Brenna D. Argall
Characterizing Eye Gaze for Assistive Device Control. ICORR (2023)
Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. CoRR (2023)
Jake Ketchum, Sophia Schiffer, Muchen Sun, Pranav Kaarthik, Ryan L. Truby, Todd D. Murphey
Automated Gait Generation for Walking, Soft Robotic Quadrupeds. IROS (2023)
Wanxin Jin, Todd D. Murphey, Zehui Lu, Shaoshuai Mou
Learning From Human Directional Corrections. IEEE Trans. Robotics 39 (1) (2023)
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Maximum Diffusion Reinforcement Learning. CoRR (2023)
Muchen Sun, Allison Pinosky, Ian Abraham, Todd D. Murphey
Scale-Invariant Fast Functional Registration. ISRR (2022)
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Scale-Invariant Specifications for Human-Swarm Systems. CoRR (2022)
Joel Meyer, Allison Pinosky, Thomas Trzpit, Ed Colgate, Todd D. Murphey
A Game Benchmark for Real-Time Human-Swarm Control. CASE (2022)
Joel Meyer, Allison Pinosky, Thomas Trzpit, Ed Colgate, Todd D. Murphey
A Game Benchmark for Real-Time Human-Swarm Control. CoRR (2022)
Aleksandra Kalinowska, Elnaz Davoodi, Kory W. Mathewson, Todd D. Murphey, Patrick M. Pilarski
Towards Situated Communication in Multi-Step Interactions: Time is a Key Pressure in Communication Emergence. CogSci (2022)
Aleksandra Kalinowska, Elnaz Davoodi, Florian Strub, Kory W. Mathewson, Ivana Kajic, Michael Bowling, Todd D. Murphey, Patrick M. Pilarski
Over-communicate no more: Situated RL agents learn concise communication protocols. CoRR (2022)
Muchen Sun, Allison Pinosky, Ian Abraham, Todd D. Murphey
Scale-Invariant Fast Functional Registration. CoRR (2022)
Aleksandra Kalinowska, Millicent Schlafly, Kyra Rudy, Jules P. A. Dewald, Todd D. Murphey
Measuring Interaction Bandwidth During Physical Human-Robot Collaboration. IEEE Robotics Autom. Lett. 7 (4) (2022)
Jing Fan Yang, Albert Tianxiang Liu, Thomas A. Berrueta, Ge Zhang, Allan M. Brooks, Volodymyr B. Koman, Sungyun Yang, Xun Gong, Todd D. Murphey, Michael S. Strano
Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation. Adv. Intell. Syst. 4 (4) (2022)
Kathleen Fitzsimons, Todd D. Murphey
Ergodic Shared Control: Closing the Loop on pHRI Based on Information Encoded in Motion. ACM Trans. Hum. Robot Interact. 11 (4) (2022)
Pavel Chvykov, Thomas A. Berrueta, Akash Vardhan, William Savoie, Alexander Samland, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman, Jeremy L. England
Low rattling: A predictive principle for self-organization in active collectives. CoRR (2021)
Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey
Hybrid Control for Learning Motor Skills. WAFR (2021)
Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh
Formalizing and guaranteeing human-robot interaction. Commun. ACM 64 (9) (2021)
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. ICCV (2021)
Taosha Fan, Todd D. Murphey
Majorization Minimization Methods for Distributed Pose Graph Optimization. CoRR (2021)
Muchen Sun, Francesca Baldini, Peter Trautman, Todd D. Murphey
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation. Robotics: Science and Systems (2021)
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain. IROS (2021)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
An Ergodic Measure for Active Learning From Equilibrium. IEEE Trans Autom. Sci. Eng. 18 (3) (2021)
William Edwards, Gao Tang, Giorgos Mamakoukas, Todd D. Murphey, Kris Hauser
Automatic Tuning for Data-driven Model Predictive Control. ICRA (2021)
Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
Active Learning in Robotics: A Review of Control Principles. CoRR (2021)
Aleksandra Kalinowska, Ahalya Prabhakar, Kathleen Fitzsimons, Todd D. Murphey
Ergodic imitation: Learning from what to do and what not to do. ICRA (2021)
Aleksandra Kalinowska, Ahalya Prabhakar, Kathleen Fitzsimons, Todd D. Murphey
Ergodic imitation: Learning from what to do and what not to do. CoRR (2021)
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey, Steven M. LaValle
Information Requirements of Collision-Based Micromanipulation. WAFR (2021)
Muchen Sun, Francesca Baldini, Peter Trautman, Todd D. Murphey
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation. CoRR (2021)
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. CoRR (2021)
Giorgos Mamakoukas, Maria L. Castaño, Xiaobo Tan, Todd D. Murphey
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems. IEEE Trans. Robotics 37 (6) (2021)
Ana Pervan, Todd D. Murphey
Algorithmic Design for Embodied Intelligence in Synthetic Cells. IEEE Trans Autom. Sci. Eng. 18 (3) (2021)
Taosha Fan, Todd D. Murphey
Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees. CoRR (2020)
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion. CoRR (2020)
Taosha Fan, Todd D. Murphey
Generalized Proximal Methods for Pose Graph Optimization. CoRR (2020)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
An Ergodic Measure for Active Learning From Equilibrium. CoRR (2020)
Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey
Hybrid Control for Learning Motor Skills. CoRR (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. CoRR (2020)
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey, Steven M. LaValle
Information Requirements of Collision-Based Micromanipulation. CoRR (2020)
Wanxin Jin, Todd D. Murphey, Dana Kulic, Neta Ezer, Shaoshuai Mou
Learning from Sparse Demonstrations. CoRR (2020)
Giorgos Mamakoukas, Orest Xherija, Todd D. Murphey
Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control. NeurIPS (2020)
Ana Pervan, Todd D. Murphey
Bayesian Particles on Cyclic Graphs. CoRR (2020)
Alexander Broad, Ian Abraham, Todd D. Murphey, Brenna Argall
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems. CoRR (2020)
Alexander Broad, Ian Abraham, Todd D. Murphey, Brenna Argall
Data-driven Koopman operators for model-based shared control of human-machine systems. Int. J. Robotics Res. 39 (9) (2020)
Wanxin Jin, Todd D. Murphey, Shaoshuai Mou
Learning from Incremental Directional Corrections. CoRR (2020)
Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh
Formalizing and Guaranteeing* Human-Robot Interaction. CoRR (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ahalya Prabhakar, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. Robotics: Science and Systems (2020)
Maria L. Castaño, Andrew Hess, Giorgos Mamakoukas, Tong Gao, Todd D. Murphey, Xiaobo Tan
Control-oriented Modeling of Soft Robotic Swimmer with Koopman Operators. AIM (2020)
Giorgos Mamakoukas, Orest Xherija, Todd D. Murphey
Learning Memory-Efficient Stable Linear Dynamical Systems for Prediction and Control. CoRR (2020)
Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd D. Murphey
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation. CoRR (2020)
Giorgos Mamakoukas, Maria L. Castano, Xiaobo Tan, Todd D. Murphey
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems. CoRR (2020)
Ana Pervan, Todd D. Murphey
Algorithmic Design for Embodied Intelligence in Synthetic Cells. CoRR (2020)
Kathleen Fitzsimons, Aleksandra Kalinowska, Julius P. A. Dewald, Todd D. Murphey
Task-based hybrid shared control for training through forceful interaction. Int. J. Robotics Res. 39 (9) (2020)
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
Learning Data-Driven Stable Koopman Operators. CoRR (2020)
Ahalya Prabhakar, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. CoRR (2020)
Thomas A. Berrueta, Ana Pervan, Kathleen Fitzsimons, Todd D. Murphey
Dynamical System Segmentation for Information Measures in Motion. CoRR (2020)
Aleksandra Kalinowska, Kyra Rudy, Millicent Schlafly, Kathleen Fitzsimons, Julius P. A. Dewald, Todd D. Murphey
Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation. BioRob (2020)
Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd D. Murphey
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation. IEEE Trans. Robotics 36 (6) (2020)
Ana Pervan, Todd D. Murphey
Bayesian Particles on Cyclic Graphs. IROS (2020)
Aleksandra Kalinowska, Kyra Rudy, Millicent Schlafly, Kathleen Fitzsimons, Julius P. A. Dewald, Todd D. Murphey
Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation. CoRR (2020)
Taosha Fan, Todd D. Murphey
Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees. IROS (2020)
Taosha Fan, Todd D. Murphey
Generalized Proximal Methods for Pose Graph Optimization. ISRR (2019)
William Savoie, Thomas A. Berrueta, Zachary Jackson, Ana Pervan, Ross Warkentin, Shengkai Li, Todd D. Murphey, Kurt Wiesenfeld, Daniel I. Goldman
A robot made of robots: Emergent transport and control of a smarticle ensemble. Sci. Robotics 4 (34) (2019)
Kathleen Fitzsimons, Ana Maria Acosta, Julius P. A. Dewald, Todd D. Murphey
Ergodicity reveals assistance and learning from physical human-robot interaction. Sci. Robotics 4 (29) (2019)
Ian Abraham, Todd D. Murphey
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators. IEEE Trans. Robotics 35 (5) (2019)
Alexander Broad, Todd D. Murphey, Brenna D. Argall
Operation and Imitation under Safety-Aware Shared Control. CoRR (2019)
Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd D. Murphey
Efficient and Guaranteed Planar Pose Graph optimization Using the Complex Number Representation. IROS (2019)
Kathleen Fitzsimons, Aleksandra Kalinowska, Julius P. A. Dewald, Todd D. Murphey
Task-Based Hybrid Shared Control for Training Through Forceful Interaction. CoRR (2019)
Alexander Broad, Todd D. Murphey, Brenna Argall
Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control. Robotics: Science and Systems (2019)
Giorgos Mamakoukas, Maria L. Castano, Xiaobo Tan, Todd D. Murphey
Local Koopman Operators for Data-Driven Control of Robotic Systems. Robotics: Science and Systems (2019)
Ian Abraham, Todd D. Murphey
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators. CoRR (2019)
Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss, Todd D. Murphey
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device. CoRR (2019)
Alexander Broad, Todd D. Murphey, Brenna D. Argall
Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control. CoRR (2019)
Thomas A. Berrueta, Ana Pervan, Kathleen Fitzsimons, Todd D. Murphey
Dynamical System Segmentation for Information Measures in Motion. IEEE Robotics Autom. Lett. 4 (1) (2019)
Emmanouil Tzorakoleftherakis, Todd D. Murphey
Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems. IEEE Trans. Autom. Control. 64 (8) (2019)
Taosha Fan, Jarvis A. Schultz, Todd D. Murphey
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization. CoRR (2019)
Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss, Todd D. Murphey
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device. ICRA (2019)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
Active Area Coverage from Equilibrium. CoRR (2019)
Alexander Broad, Todd D. Murphey, Brenna D. Argall
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics. CoRR (2018)
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
Feedback synthesis for underactuated systems using sequential second-order needle variations. Int. J. Robotics Res. 37 (13-14) (2018)
Taosha Fan, Jarvis A. Schultz, Todd D. Murphey
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization. WAFR (2018)
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations. CoRR (2018)

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Publication Activity (10 Years)

Top Topics

Top Venues

Todd D. Murphey