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ORCIDEmanuel Todorov
Emo Todorov
Person information
- affiliation: University of Washington, Seattle, USA
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2020 – today
- 2021
[i11]Akshay Srinivasan, Emanuel Todorov:
Computing the Newton-step faster than Hessian accumulation. CoRR abs/2108.01219 (2021)- 2020
- [c76]Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha S. Srinivasa, Emanuel Todorov:
Lyceum: An efficient and scalable ecosystem for robot learning. L4DC 2020: 793-803 - [i10]Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha S. Srinivasa, Emanuel Todorov:
Lyceum: An efficient and scalable ecosystem for robot learning. CoRR abs/2001.07343 (2020)
2010 – 2019
- 2019
- [c75]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 - [c74]Divye Jain, Andrew Li, Shivam Singhal, Aravind Rajeswaran, Vikash Kumar, Emanuel Todorov:
Learning Deep Visuomotor Policies for Dexterous Hand Manipulation. ICRA 2019: 3636-3643 - 2018
- [c73]Emanuel Todorov:
Goal Directed Dynamics. ICRA 2018: 2994-3000 - [c72]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 - [c71]Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov:
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. SIMPAR 2018: 35-42 - [i9]Kendall Lowrey, Svetoslav Kolev, Jeremy Dao, Aravind Rajeswaran, Emanuel Todorov:
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. CoRR abs/1803.10371 (2018) - [i8]Kendall Lowrey, Aravind Rajeswaran, Sham M. Kakade, Emanuel Todorov, Igor Mordatch:
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control. CoRR abs/1811.01848 (2018) - 2017
- [c70]Aravind Rajeswaran, Kendall Lowrey, Emanuel Todorov, Sham M. Kakade:
Towards Generalization and Simplicity in Continuous Control. NIPS 2017: 6550-6561 - [i7]Aravind Rajeswaran, Kendall Lowrey, Emanuel Todorov, Sham M. Kakade:
Towards Generalization and Simplicity in Continuous Control. CoRR abs/1703.02660 (2017) - [i6]Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, John Schulman, Emanuel Todorov, Sergey Levine:
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations. CoRR abs/1709.10087 (2017) - 2016
- [c69]Kendall Lowrey, Jeremy Dao, Emanuel Todorov:
Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach. Humanoids 2016: 1225-1232 - [c68]Vikash Kumar, Emanuel Todorov, Sergey Levine:
Optimal control with learned local models: Application to dexterous manipulation. ICRA 2016: 378-383 - [c67]Zhe Xu, Emanuel Todorov:
Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. ICRA 2016: 3485-3492 - [i5]Vikash Kumar, Abhishek Gupta, Emanuel Todorov, Sergey Levine:
Learning Dexterous Manipulation Policies from Experience and Imitation. CoRR abs/1611.05095 (2016) - 2015
- [j10]Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel:
Convex Structured Controller Design in Finite Horizon. IEEE Trans. Control. Netw. Syst. 2(1): 1-10 (2015) - [c66]Vikash Kumar, Emanuel Todorov:
MuJoCo HAPTIX: A virtual reality system for hand manipulation. Humanoids 2015: 657-663 - [c65]Svetoslav Kolev, Emanuel Todorov:
Physically consistent state estimation and system identification for contacts. Humanoids 2015: 1036-1043 - [c64]Tom Erez, Yuval Tassa, Emanuel Todorov:
Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX. ICRA 2015: 4397-4404 - [c63]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: 3346-3351 - [c62]Igor Mordatch, Kendall Lowrey, Emanuel Todorov:
Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids. IROS 2015: 5307-5314 - [c61]Igor Mordatch, Kendall Lowrey, Galen Andrew, Zoran Popovic, Emanuel Todorov:
Interactive Control of Diverse Complex Characters with Neural Networks. NIPS 2015: 3132-3140 - [i4]Akshay Srinivasan, Emanuel Todorov:
Graphical Newton. CoRR abs/1508.00952 (2015) - 2014
- [c60]Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov:
Convex risk averse control design. CDC 2014: 4020-4025 - [c59]Yuval Tassa, Nicolas Mansard, Emo Todorov:
Control-limited differential dynamic programming. ICRA 2014: 1168-1175 - [c58]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: 2749-2756 - [c57]Emanuel Todorov:
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo. ICRA 2014: 6054-6061 - [c56]Vikash Kumar, Yuval Tassa, Tom Erez, Emanuel Todorov:
Real-time behaviour synthesis for dynamic hand-manipulation. ICRA 2014: 6808-6815 - [c55]Kendall Lowrey, Svetoslav Kolev, Yuval Tassa, Tom Erez, Emanuel Todorov:
Physically-consistent sensor fusion in contact-rich behaviors. IROS 2014: 1656-1662 - [c54]Igor Mordatch, Emo Todorov:
Combining the benefits of function approximation and trajectory optimization. Robotics: Science and Systems 2014 - [c53]Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov:
Universal Convexification via Risk-Aversion. UAI 2014: 162-171 - [i3]Krishnamurthy Dvijotham, Maryam Fazel, Emanuel Todorov:
Universal Convexification via Risk-Aversion. CoRR abs/1406.0554 (2014) - 2013
- [j9]Igor Mordatch, Jack M. Wang, Emanuel Todorov, Vladlen Koltun:
Animating human lower limbs using contact-invariant optimization. ACM Trans. Graph. 32(6): 203:1-203:8 (2013) - [c52]Mingyuan Zhong, M. Johnson, Yuval Tassa, Tom Erez, Emo Todorov:
Value function approximation and model predictive control. ADPRL 2013: 100-107 - [c51]Evangelos A. Theodorou, Jiri Najemnik, Emanuel Todorov:
Free energy based policy gradients. ADPRL 2013: 124-131 - [c50]Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel:
Convex control design via covariance minimization. Allerton 2013: 93-99 - [c49]Michail Kontitsis, Evangelos A. Theodorou, Emanuel Todorov:
Multi-robot active SLAM with relative entropy optimization. ACC 2013: 2757-2764 - [c48]Evangelos A. Theodorou, Emo Todorov:
The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions. ACC 2013: 4209-4214 - [c47]Krishnamurthy Dvijotham, Evangelos A. Theodorou, Emanuel Todorov, Maryam Fazel:
Convexity of optimal linear controller design. CDC 2013: 2477-2482 - [c46]Evangelos A. Theodorou, Krishnamurthy Dvijotham, Emo Todorov:
Time varying nonlinear Policy Gradients. CDC 2013: 7765-7770 - [c45]Tingfan Wu, Yuval Tassa, Vikash Kumar, Javier R. Movellan, Emanuel Todorov:
STAC: Simultaneous tracking and calibration. Humanoids 2013: 469-476 - [c44]Vikash Kumar, Zhe Xu, Emanuel Todorov:
Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands. ICRA 2013: 1512-1519 - [i2]Krishnamurthy Dvijotham, Emanuel Todorov, Maryam Fazel:
Convex Structured Controller Design. CoRR abs/1309.7731 (2013) - 2012
- [j8]Igor Mordatch, Emanuel Todorov, Zoran Popovic:
Discovery of complex behaviors through contact-invariant optimization. ACM Trans. Graph. 31(4): 43:1-43:8 (2012) - [c43]Evangelos A. Theodorou, Emanuel Todorov:
Stochastic optimal control for nonlinear markov jump diffusion processes. ACC 2012: 1633-1639 - [c42]Krishnamurthy Dvijotham, Emo Todorov:
Linearly solvable Markov games. ACC 2012: 1845-1850 - [c41]Evangelos A. Theodorou, Emanuel Todorov:
Relative entropy and free energy dualities: Connections to Path Integral and KL control. CDC 2012: 1466-1473 - [c40]Eric Rombokas, Evangelos A. Theodorou, Mark Malhotra, Emo Todorov, Yoky Matsuoka:
Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach. ICRA 2012: 208-214 - [c39]Mark Malhotra, Eric Rombokas, Evangelos A. Theodorou, Emanuel Todorov, Yoky Matsuoka:
Reduced dimensionality control for the ACT hand. ICRA 2012: 5117-5122 - [c38]Yuval Tassa, Tom Erez, Emanuel Todorov:
Synthesis and stabilization of complex behaviors through online trajectory optimization. IROS 2012: 4906-4913 - [c37]Tom Erez, Emanuel Todorov:
Trajectory optimization for domains with contacts using inverse dynamics. IROS 2012: 4914-4919 - [c36]Emanuel Todorov, Tom Erez, Yuval Tassa:
MuJoCo: A physics engine for model-based control. IROS 2012: 5026-5033 - [c35]Eric Rombokas, Mark Malhotra, Evangelos A. Theodorou, Yoky Matsuoka, Emo Todorov:
Tendon-Driven Variable Impedance Control Using Reinforcement Learning. Robotics: Science and Systems 2012 - [c34]Igor Mordatch, Zoran Popovic, Emanuel Todorov:
Contact-Invariant Optimization for Hand Manipulation. Symposium on Computer Animation 2012: 137-144 - [i1]Krishnamurthy Dvijotham, Emanuel Todorov:
A Unifying Framework for Linearly Solvable Control. CoRR abs/1202.3715 (2012) - 2011
- [c33]Yuval Tassa, Emanuel Todorov:
High-order local dynamic programming. ADPRL 2011: 70-75 - [c32]Mingyuan Zhong, Emanuel Todorov:
Moving least-squares approximations for linearly-solvable MDP. ADPRL 2011: 218-225 - [c31]Alex Simpkins, Emanuel Todorov:
Complex object manipulation with hierarchical optimal control. ADPRL 2011: 338-345 - [c30]Evangelos A. Theodorou, Emanuel Todorov, Francisco J. Valero Cuevas:
Neuromuscular stochastic optimal control of a tendon driven index finger model. ACC 2011: 348-355 - [c29]Emanuel Todorov:
A convex, smooth and invertible contact model for trajectory optimization. ICRA 2011: 1071-1076 - [c28]Paul Kulchenko, Emanuel Todorov:
First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing. ICRA 2011: 2144-2151 - [c27]Alex Simpkins, Michael S. Kelley, Emanuel Todorov:
Modular bio-mimetic robots that can interact with the world the way we do. ICRA 2011: 3189-3196 - [c26]Zhe Xu, Emanuel Todorov, Brian Dellon, Yoky Matsuoka:
Design and analysis of an artificial finger joint for anthropomorphic robotic hands. ICRA 2011: 5096-5102 - [c25]Tom Erez, Yuval Tassa, Emanuel Todorov:
Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts. Robotics: Science and Systems 2011 - [c24]Krishnamurthy Dvijotham, Emanuel Todorov:
A Unifying Framework for Linearly Solvable Control. UAI 2011: 179-186 - 2010
- [c23]Evangelos A. Theodorou, Yuval Tassa, Emo Todorov:
Stochastic Differential Dynamic Programming. ACC 2010: 1125-1132 - [c22]Alex Simpkins, Emanuel Todorov:
Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors. ACC 2010: 1948-1955 - [c21]Krishnamurthy Dvijotham, Emanuel Todorov:
Inverse Optimal Control with Linearly-Solvable MDPs. ICML 2010: 335-342 - [c20]Emanuel Todorov:
Implicit nonlinear complementarity: A new approach to contact dynamics. ICRA 2010: 2322-2329 - [c19]Emanuel Todorov:
Policy gradients in linearly-solvable MDPs. NIPS 2010: 2298-2306 - [c18]Yuval Tassa, Emo Todorov:
Stochastic Complementarity for Local Control of Discontinuous Dynamics. Robotics: Science and Systems 2010
2000 – 2009
- 2009
- [j7]Emanuel Todorov:
Efficient computation of optimal actions. Proc. Natl. Acad. Sci. USA 106(28): 11478-11483 (2009) - [c17]Dongsung Huh, Emanuel Todorov:
Real-time motor control using recurrent neural networks. ADPRL 2009: 42-49 - [c16]Dan Liu, Emanuel Todorov:
Hierarchical optimal control of a 7-DOF arm model. ADPRL 2009: 50-57 - [c15]Emanuel Todorov, Yuval Tassa:
Iterative local dynamic programming. ADPRL 2009: 90-95 - [c14]Emanuel Todorov:
Eigenfunction approximation methods for linearly-solvable optimal control problems. ADPRL 2009: 161-168 - [c13]C. Alexander Simpkins, Emanuel Todorov:
Practical numerical methods for stochastic optimal control of biological systems in continuous time and space. ADPRL 2009: 212-218 - [c12]Emanuel Todorov:
Compositionality of optimal control laws. NIPS 2009: 1856-1864 - 2008
- [j6]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): 69-77 (2008) - [c11]Alex Simpkins, Raymond A. de Callafon, Emanuel Todorov:
Optimal trade-off between exploration and exploitation. ACC 2008: 33-38 - [c10]Emanuel Todorov:
General duality between optimal control and estimation. CDC 2008: 4286-4292 - 2007
- [j5]Weiwei Li, Emanuel Todorov:
Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system. Int. J. Control 80(9): 1439-1453 (2007) - [j4]Emanuel Todorov:
Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data. IEEE Trans. Biomed. Eng. 54(11): 1927-1939 (2007) - 2006
- [c9]Weiwei Li, Emanuel Todorov:
An Iterative Optimal Control and Estimation Design for Nonlinear Stochastic System. CDC 2006: 3242-3247 - [c8]Emanuel Todorov:
Linearly-solvable Markov decision problems. NIPS 2006: 1369-1376 - 2005
- [j3]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): 691-710 (2005) - [j2]Emanuel Todorov:
Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System. Neural Comput. 17(5): 1084-1108 (2005) - [c7]Emanuel Todorov, Weiwei Li:
A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems. ACC 2005: 300-306vol.1 - [c6]Weiwei Li, Emanuel Todorov, Robert E. Skelton:
Estimation and control of systems with multiplicative noise via linear matrix inequalities. ACC 2005: 1811-1816 - 2004
- [c5]Weiwei Li, Emanuel Todorov:
Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. ICINCO (1) 2004: 222-229 - 2002
- [j1]Emanuel Todorov:
Cosine Tuning Minimizes Motor Errors. Neural Comput. 14(6): 1233-1260 (2002) - [c4]Emanuel Todorov, Michael I. Jordan:
A Minimal Intervention Principle for Coordinated Movement. NIPS 2002: 27-34
1990 – 1999
- 1996
- [c3]Emanuel Todorov, Athanassios Siapas, David Somers:
A Model of Recurrent Interactions in Primary Visual Cortex. NIPS 1996: 118-126 - 1994
- [c2]Tom Brashers-Krug, Reza Shadmehr, Emanuel Todorov:
Catastrophic Interference in Human Motor Learning. NIPS 1994: 19-26 - [c1]Joshua B. Tenenbaum, Emanuel Todorov:
Factorial Learning by Clustering Features. NIPS 1994: 561-568
Coauthor Index
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