PREPRINTS

Stochastic differential dynamic programming
Theodorou E, Tassa Y and Todorov E (2009). Manuscript under review, suggestions welcome

Implicit nonlinear complementarity: a new approach to contact dynamics
Todorov E (2009). Manuscript under review, suggestions welcome
see also: Movie

High-order local dynamic programming
Tassa Y and Todorov E (2009). Manuscript under review, suggestions welcome
see also: Movie

Optimization and feedback control of limit cycles in hybrid systems
Erez T, Todorov E and Smart W (2009). Manuscript under review, suggestions welcome
see also: Movie

Stochastic optimal control of a biologically inspired robotic finger
Theodorou E, Todorov E and Valero-Cuevas F (2009). Manuscript under review, suggestions welcome

Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors
Simpkins A and Todorov E (2009). Manuscript under review, suggestions welcome

The design of biologically inspired backdrivable modular robots for locomotion, manipulation, and virtual reality interaction
Simpkins A, Kelley M and Todorov E (2009). Manuscript under review, suggestions welcome

Inverse optimal control with linearly-solvable MDPs
Krishnamurthy D and Todorov E (2009). Manuscript under review, suggestions welcome

Compositionality of optimal control laws
Todorov E (2009). Accepted in NIPS

Classic maximum principles and estimation-control dualities for nonlinear stochastic systems
Todorov E (2008). Manuscript under review, suggestions welcome

Adaptation on demand
Liu D and Todorov E (2008). Manuscript under review, suggestions welcome

Recurrent neural networks trained in the presence of noise give rise to mixed muscle-movement representations
Todorov E (2008). Manuscript under review, suggestions welcome

PHD THESES

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

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

Efficient computation of optimal actions
Todorov E (2009). PNAS, 106(28): 11478-11483
see also: 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
see also: 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, Thrun, Obermayer (eds), MIT Press

Optimal feedback control as a theory of motor coordination
Todorov E and Jordan M (2002). Nature Neuroscience 5(11): 1226-1235
see also: Supplementary Information; News and Views; Neuroscience News

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
see also: 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