Emanuel Todorov
Aggregation methods for linearly-solvable MDPs
M. Zhong, E. Todorov, World Congress of the International Federation of Automatic Control, 2011.
A unifying framework for linearly-solvable control
K. Dvijotham, E. Todorov, Uncertainty in Artificial Intelligence, 2011.
Finding the most likely trajectories of optimally-controlled stochastic systems
E. Todorov, World Congress of the International Federation of Automatic Control, 2011.
High-order local dynamic programming
Y. Tassa, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2011.
Inverse optimality design for biological movement systems
W. Li, E. Todorov, D. Liu, World Congress of the International Federation of Automatic Control, 2011.
Moving least-squares approximations for linearly-solvable stochastic optimal control problems
M. Zhong, E. Todorov, Journal of Control Theory Applications 9, 2011.
Neuromuscular stochastic optimal control of a tendon-driven index finger model
E. Theodorou, E. Todorov, F. Valero-Cuevas, American Control Conference, 2011.
A first optimal control solution for a complex, nonlinear, tendon driven neuromuscular finger model
E. Theodorou, E. Todorov, F. Valero-Cuevas, ASME Summer Bioengineering Conference, 2010.
Identification and control of a pneumatic robot
E. Todorov, C. Hu, A. Simpkins, J. Movellan, IEEE BioRob, 2010.
Inverse optimal control with linearly-solvable MDPs
K. Dvijotham, T. E., International Conference on Machine Learning, 2010.
Policy gradients in linearly-solvable MDPs
E. Todorov, Advances in Neural Information Processing Systems, 2010.
Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors
A. Simpkins, E. Todorov, American Control Conference, 2010.
Stochastic differential dynamic programming
E. Theodorou, Y. Tassa, E. Todorov, American Control Conference, 2010.
Inverse Optimal Control with Linearly Solvable MDPs
K. Dvijotham, E. Todorov, International Conference on Machine Learning, 2010.
Compositionality of optimal control laws
E. Todorov, Advances in Neural Information Processing Systems, 2009.
Efficient computation of optimal actions
Todorov, Proceedings of the National Academy of Science 106, 2009.
Eigenfunction approximation methods for linearly-solvable optimal control problems
E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Hierarchical optimal control of a 7-DOF arm model
D. Liu, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Iterative local dynamic programming
E. Todorov, Y. Tassa, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Practical numerical methods for stochastic optimal control of biological systems in continuous time and space
A. Simpkins, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Real-time motor control using recurrent neural networks
D. Huh, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Structured variability of muscle activations supports the minimal intervention principle of motor control
F. Valero-Cuevas, M. Venkadesan, E. Todorov, Journal of Neurophysiology 102, 2009.
General duality between optimal control and estimation
E. Todorov, IEEE Conference on Decision and Control, 2008.
Optimal trade-off between exploration and exploitation
A. Simpkins, R. Callafon, E. Todorov, American Control Conference, 2008.
Parallels between sensory and motor information processing
E. Todorov, The Cognitive Neurosciences, 4th ed., MIT Press, 2008.
Evidence for the flexible sensorimotor strategies predicted by optimal feedback control
D. Liu, E. Todorov, Journal of Neuroscience 27, 2007.
Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic systems
W. Li, E. Todorov, International Journal of Control 80, 2007.
Predicting reaching targets from human EEG
P. Hammon, S. Makeig, E. Poizner, V. Sa, IEEE Signal Processing Magazine 25, 2007.
Probabilistic inference of multi-joint movements, skeletal parameters and marker attachments from diverse sensor data
E. Todorov, IEEE Transactions on Biomedical Engineering 54, 2007.
State estimation with finite signals-to-noise models via linear matrix inequalities
W. Li, R. Skelton, E. Todorov, Journal of Dynamic Systems, Measurement and Control 129, 2007.
Imitiation learning for reaching and grasping in virtual environments
N. Singh, E. Todorov, International Conference on Development and Learning, 2006.
Iterative optimal control and estimation design for nonlinear stochastic systems
W. Li, E. Todorov, IEEE Conference on Decision and Control, 2006.
Linearly-solvable Markov decision problems
E. Todorov, Advances in Neural Information Processing Systems, 2006.
Optimal control theory
E. Todorov, Bayesian Brain: Probabilistic Approaches to Neural Coding, MIT Press, 2006.
A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems
E. Todorov, W. Li, American Control Conference, 2005.
Estimation and control of systems with multiplicative noise via linear matrix inequalities
W. Li, R. Skelton, E. Todorov, American Control Conference, 2005.
From task parameters to motor synergies: A hierarchical framework for approximately-optimal control of redundant manipulators
E. Todorov, W. Li, X. Pan, Journal of Robotic Systems 22, 2005.
Hierarchical feedback and learning for multi-joint arm movement control
W. Li, E. Todorov, X. Pan, IEEE Engineering in Medicine and Biology, 2005.
Stochastic optimal control and estimation methods adapted to the noise characteristics of the sensorimotor system
E. Todorov, Neural Computation 17, 2005.
Towards an integrated systems for estimating multi-joint movement from diverse sensor data
X. Pan, E. Todorov, W. Li, IEEE Engineering in Medicine and Biology, 2005.
Analysis of the synergies underlying complex hand manipulation
E. Todorov, Z. Ghahramani, IEEE Engineering in Medicine and Biology, 2004.
Development of clinician-friendly software for musculoskeletal modeling and control
R. Davoodi, C. Urata, E. Todorov, G. Loeb, IEEE Engineering in Medicine and Biology, 2004.
Hierarchical optimal control of redundant biomechanical systems
W. Li, E. Todorov, X. Pan, IEEE Engineering in Medicine and Biology, 2004.
Iterative linear-quadratic regulator design for nonlinear biological movement systems
W. Li, E. Todorov, International Conference on Informatics in Control, Automation and Robotics, 2004.
Optimality principles in sensorimotor control
E. Todorov, Nature Neuroscience 7, 2004.
A minimal intervention principle for coordinated movement
E. Todorov, M. Jordan, Advances in Neural Information Processing Systems, 2003.
On the role of primary motor cortex in arm movement control
E. Todorov, Progress in Motor Control III, Human Kinetics, 2003.
Optimal control methods suitable for biomechanical systems
E. Todorov, W. Li, IEEE Engineering in Medicine and Biology, 2003.
Unsupervised learning of sensory-motor primitives
E. Todorov, Z. Ghahramani, IEEE Engineering in Medicine and Biology, 2003.
A biomechanical model of the partially paralyzed human arm
R. Davoodi, I. Brown, E. Todorov, G. Loeb, Annual Conference of the International Functional Electric Stimulation Society, 2002.
Cosine tuning minimizes motor errors
E. Todorov, Neural Computation 14, 2002.
Optimal feedback control as a theory of motor coordination
E. Todorov, M. Jordan, Nature Neuroscience 5, 2002.
Use of virtual environments in motor learning and rehabilitation
M. Holden, E. Todorov, Handbook of Virtual Environments, Lawrence Erlbaum Associates, 2002.
Direct cortical control of muscle activation in voluntary arm movements: A model
E. Todorov, Nature Neuroscience 3, 2000.
One motor cortex, two different views
E. Todorov, Nature Neuroscience 3, 2000.
Virtual environment training improves motor performance in two patients with stroke
M. Holden, E. Todorov, J. Callahan, E. Bizzi, Neurology Report 23, 1999.
A local circuit approach to understanding integration of long-range inputs in primary visual cortex
D. Somers, E. Todorov, Cerebral Cortex 8, 1998.
Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements
E. Todorov, M. Jordan, Journal of Neurophysiology 80, 1998.
A local circuit integration approach to understanding visual cortical receptive fields
D. Somers, E. Todorov, A. Siapas, Computational Neuroscience, 1997.
A model of recurrent interactions in primary visual cortex
E. Todorov, A. Siapas, D. Somers, Advances in Neural Information Processing Systems, 1997.
Augmented feedback presented in a virtual environment accelerates learning of a difficult motor task
E. Todorov, R. Shadmehr, E. Bizzi, Journal of Motor Behavior 29, 1997.
Modeling visual cortical contrast adaptation effects
E. Todorov, A. Siapas, D. Somers, S. Nelson, Computational Neuroscience, 1997.
Variable gain control in local cortical circuitry supports context-dependent modulation by long-range connections
D. Somers, L. Toth, E. Todorov, Lateral Interactions in Cortex - Structure and Function, Online Book, 1996.
Catastrophic interference in human motor learning
T. Brashers-Krug, R. Shadmehr, E. Todorov, Advances in Neural Information Processing Systems, 1995.
Factorial learning by clustering features
J. Tenenbaum, E. Todorov, Advances in Neural Information Processing Systems, 1995.

cs.