Catastrophic Interference in Human Motor Learning. - Tom Brashers-Krug; Reza Shadmehr; Emanuel Todorov (NIPS, 1994)

Factorial Learning by Clustering Features. - Joshua B. Tenenbaum; Emanuel Todorov (NIPS, 1994)

A Model of Recurrent Interactions in Primary Visual Cortex. - Emanuel Todorov; Athanassios Siapas; David Somers (NIPS, 1996)

A Minimal Intervention Principle for Coordinated Movement. - Emanuel Todorov; Michael I. Jordan (NIPS, 2002)

Cosine Tuning Minimizes Motor Errors. - Emanuel Todorov (Neural Comput., 2002)

Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. - Weiwei Li; Emanuel Todorov (ICINCO (1), 2004)

Estimation and control of systems with multiplicative noise via linear matrix inequalities. - Weiwei Li; Emanuel Todorov; Robert E. Skelton (ACC, 2005)

A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems. - Emanuel Todorov; Weiwei Li (ACC, 2005)

From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators. - Emanuel Todorov; Weiwei Li; Xiuchuan Pan (J. Field Robotics, 2005)

Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System. - Emanuel Todorov (Neural Comput., 2005)

An Iterative Optimal Control and Estimation Design for Nonlinear Stochastic System. - Weiwei Li; Emanuel Todorov (CDC, 2006)

Linearly-solvable Markov decision problems. - Emanuel Todorov (NIPS, 2006)

Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system. - Weiwei Li; Emanuel Todorov (Int. J. Control, 2007)

Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data. - Emanuel Todorov (IEEE Trans. Biomed. Eng., 2007)

Optimal trade-off between exploration and exploitation. - Alex Simpkins; Raymond A. de Callafon; Emanuel Todorov (ACC, 2008)

General duality between optimal control and estimation. - Emanuel Todorov (CDC, 2008)

Predicting Reaching Targets from Human EEG. - Paul S. Hammon; Scott Makeig; Howard Poizner; Emanuel Todorov; Virginia R. de Sa (IEEE Signal Process. Mag., 2008)

Real-time motor control using recurrent neural networks. - Dongsung Huh; Emanuel Todorov (ADPRL, 2009)

Hierarchical optimal control of a 7-DOF arm model. - Dan Liu; Emanuel Todorov (ADPRL, 2009)

Practical numerical methods for stochastic optimal control of biological systems in continuous time and space. - C. Alexander Simpkins; Emanuel Todorov (ADPRL, 2009)

Eigenfunction approximation methods for linearly-solvable optimal control problems. - Emanuel Todorov (ADPRL, 2009)

Iterative local dynamic programming. - Emanuel Todorov; Yuval Tassa (ADPRL, 2009)

Compositionality of optimal control laws. - Emanuel Todorov (NIPS, 2009)

Efficient computation of optimal actions. - Emanuel Todorov (Proc. Natl. Acad. Sci. USA, 2009)

Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors. - Alex Simpkins; Emanuel Todorov (ACC, 2010)

Stochastic Differential Dynamic Programming. - Evangelos A. Theodorou; Yuval Tassa; Emo Todorov (ACC, 2010)

Inverse Optimal Control with Linearly-Solvable MDPs. - Krishnamurthy Dvijotham; Emanuel Todorov (ICML, 2010)

Implicit nonlinear complementarity: A new approach to contact dynamics. - Emanuel Todorov (ICRA, 2010)

Policy gradients in linearly-solvable MDPs. - Emanuel Todorov (NIPS, 2010)

Stochastic Complementarity for Local Control of Discontinuous Dynamics. - Yuval Tassa; Emo Todorov (Robotics: Science and Systems, 2010)

Complex object manipulation with hierarchical optimal control. - Alex Simpkins; Emanuel Todorov (ADPRL, 2011)

High-order local dynamic programming. - Yuval Tassa; Emanuel Todorov (ADPRL, 2011)

Moving least-squares approximations for linearly-solvable MDP. - Mingyuan Zhong 002; Emanuel Todorov (ADPRL, 2011)

Neuromuscular stochastic optimal control of a tendon driven index finger model. - Evangelos A. Theodorou; Emanuel Todorov; Francisco J. Valero Cuevas (ACC, 2011)

First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing. - Paul Kulchenko; Emanuel Todorov (ICRA, 2011)

Modular bio-mimetic robots that can interact with the world the way we do. - Alex Simpkins; Michael S. Kelley; Emanuel Todorov (ICRA, 2011)

A convex, smooth and invertible contact model for trajectory optimization. - Emanuel Todorov (ICRA, 2011)

Design and analysis of an artificial finger joint for anthropomorphic robotic hands. - Zhe Xu 002; Emanuel Todorov; Brian Dellon; Yoky Matsuoka (ICRA, 2011)

Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts. - Tom Erez; Yuval Tassa; Emanuel Todorov (Robotics: Science and Systems, 2011)

A Unifying Framework for Linearly Solvable Control. - Krishnamurthy Dvijotham; Emanuel Todorov (UAI, 2011)

Linearly solvable Markov games. - Krishnamurthy Dvijotham; Emo Todorov (ACC, 2012)

Stochastic optimal control for nonlinear markov jump diffusion processes. - Evangelos A. Theodorou; Emanuel Todorov (ACC, 2012)

Relative entropy and free energy dualities: Connections to Path Integral and KL control. - Evangelos A. Theodorou; Emanuel Todorov (CDC, 2012)

Reduced dimensionality control for the ACT hand. - Mark Malhotra; Eric Rombokas; Evangelos A. Theodorou; Emanuel Todorov; Yoky Matsuoka (ICRA, 2012)

Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach. - Eric Rombokas; Evangelos A. Theodorou; Mark Malhotra; Emo Todorov; Yoky Matsuoka (ICRA, 2012)

Trajectory optimization for domains with contacts using inverse dynamics. - Tom Erez; Emanuel Todorov (IROS, 2012)

Synthesis and stabilization of complex behaviors through online trajectory optimization. - Yuval Tassa; Tom Erez; Emanuel Todorov (IROS, 2012)

MuJoCo: A physics engine for model-based control. - Emanuel Todorov; Tom Erez; Yuval Tassa (IROS, 2012)

Tendon-Driven Variable Impedance Control Using Reinforcement Learning. - Eric Rombokas; Mark Malhotra; Evangelos A. Theodorou; Yoky Matsuoka; Emo Todorov (Robotics: Science and Systems, 2012)

Contact-Invariant Optimization for Hand Manipulation. - Igor Mordatch; Zoran Popovic; Emanuel Todorov (Symposium on Computer Animation, 2012)

Discovery of complex behaviors through contact-invariant optimization. - Igor Mordatch; Emanuel Todorov; Zoran Popovic (ACM Trans. Graph., 2012)

Free energy based policy gradients. - Evangelos A. Theodorou; Jiri Najemnik; Emanuel Todorov (ADPRL, 2013)

Value function approximation and model predictive control. - Mingyuan Zhong 002; M. Johnson; Yuval Tassa; Tom Erez; Emo Todorov (ADPRL, 2013)

Convex control design via covariance minimization. - Krishnamurthy Dvijotham; Emanuel Todorov; Maryam Fazel (Allerton, 2013)

Multi-robot active SLAM with relative entropy optimization. - Michail Kontitsis; Evangelos A. Theodorou; Emanuel Todorov (ACC, 2013)

The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions. - Evangelos A. Theodorou; Emo Todorov (ACC, 2013)

Convexity of optimal linear controller design. - Krishnamurthy Dvijotham; Evangelos A. Theodorou; Emanuel Todorov; Maryam Fazel (CDC, 2013)

Time varying nonlinear Policy Gradients. - Evangelos A. Theodorou; Krishnamurthy Dvijotham; Emo Todorov (CDC, 2013)

STAC: Simultaneous tracking and calibration. - Tingfan Wu; Yuval Tassa; Vikash Kumar; Javier R. Movellan; Emanuel Todorov (Humanoids, 2013)

Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands. - Vikash Kumar; Zhe Xu 002; Emanuel Todorov (ICRA, 2013)

Convex Structured Controller Design. - Krishnamurthy Dvijotham; Emanuel Todorov; Maryam Fazel (CoRR, 2013)

Animating human lower limbs using contact-invariant optimization. - Igor Mordatch; Jack M. Wang; Emanuel Todorov; Vladlen Koltun (ACM Trans. Graph., 2013)

Convex risk averse control design. - Krishnamurthy Dvijotham; Maryam Fazel; Emanuel Todorov (CDC, 2014)

Real-time behaviour synthesis for dynamic hand-manipulation. - Vikash Kumar; Yuval Tassa; Tom Erez; Emanuel Todorov (ICRA, 2014)

Control-limited differential dynamic programming. - Yuval Tassa; Nicolas Mansard; Emo Todorov (ICRA, 2014)

Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo. - Emanuel Todorov (ICRA, 2014)

Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation. - Zhe Xu 002; Svetoslav Kolev; Emanuel Todorov (ICRA, 2014)

Physically-consistent sensor fusion in contact-rich behaviors. - Kendall Lowrey; Svetoslav Kolev; Yuval Tassa; Tom Erez; Emanuel Todorov (IROS, 2014)

Combining the benefits of function approximation and trajectory optimization. - Igor Mordatch; Emo Todorov (Robotics: Science and Systems, 2014)

Universal Convexification via Risk-Aversion. - Krishnamurthy Dvijotham; Maryam Fazel; Emanuel Todorov (UAI, 2014)

Physically consistent state estimation and system identification for contacts. - Svetoslav Kolev; Emanuel Todorov (Humanoids, 2015)

MuJoCo HAPTIX: A virtual reality system for hand manipulation. - Vikash Kumar; Emanuel Todorov (Humanoids, 2015)

Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX. - Tom Erez; Yuval Tassa; Emanuel Todorov (ICRA, 2015)

Whole-body model-predictive control applied to the HRP-2 humanoid. - Jonas Koenemann; Andrea Del Prete; Yuval Tassa; Emanuel Todorov; Olivier Stasse; Maren Bennewitz; Nicolas Mansard (IROS, 2015)

Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids. - Igor Mordatch; Kendall Lowrey; Emanuel Todorov (IROS, 2015)

Interactive Control of Diverse Complex Characters with Neural Networks. - Igor Mordatch; Kendall Lowrey; Galen Andrew; Zoran Popovic; Emanuel Todorov (NIPS, 2015)

Graphical Newton. - Akshay Srinivasan; Emanuel Todorov (CoRR, 2015)

Convex Structured Controller Design in Finite Horizon. - Krishnamurthy Dvijotham; Emanuel Todorov; Maryam Fazel (IEEE Trans. Control. Netw. Syst., 2015)

Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach. - Kendall Lowrey; Jeremy Dao; Emanuel Todorov (Humanoids, 2016)

Optimal control with learned local models: Application to dexterous manipulation. - Vikash Kumar; Emanuel Todorov; Sergey Levine (ICRA, 2016)

Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. - Zhe Xu 002; Emanuel Todorov (ICRA, 2016)

Learning Dexterous Manipulation Policies from Experience and Imitation. - Vikash Kumar; Abhishek Gupta 004; Emanuel Todorov; Sergey Levine (CoRR, 2016)

Towards Generalization and Simplicity in Continuous Control. - Aravind Rajeswaran; Kendall Lowrey; Emanuel Todorov; Sham M. Kakade (NIPS, 2017)

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations. - Aravind Rajeswaran; Vikash Kumar; Abhishek Gupta 004; John Schulman; Emanuel Todorov; Sergey Levine (CoRR, 2017)

Goal Directed Dynamics. - Emanuel Todorov (ICRA, 2018)

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations. - Aravind Rajeswaran; Vikash Kumar; Abhishek Gupta 004; Giulia Vezzani; John Schulman; Emanuel Todorov; Sergey Levine (Robotics: Science and Systems, 2018)

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. - Kendall Lowrey; Svetoslav Kolev; Jeremy Dao; Aravind Rajeswaran; Emanuel Todorov (SIMPAR, 2018)

Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control. - Kendall Lowrey; Aravind Rajeswaran; Sham M. Kakade; Emanuel Todorov; Igor Mordatch (ICLR (Poster), 2019)

Learning Deep Visuomotor Policies for Dexterous Hand Manipulation. - Divye Jain; Andrew Li; Shivam Singhal; Aravind Rajeswaran; Vikash Kumar; Emanuel Todorov (ICRA, 2019)

Lyceum: An efficient and scalable ecosystem for robot learning. - Colin Summers; Kendall Lowrey; Aravind Rajeswaran; Siddhartha S. Srinivasa; Emanuel Todorov (L4DC, 2020)

Computing the Newton-step faster than Hessian accumulation. - Akshay Srinivasan; Emanuel Todorov (CoRR, 2021)

Equivalence of stochastic and deterministic policy gradients. - Emo Todorov (CoRR, 2025)

Dynamical System Optimization. - Emo Todorov (CoRR, 2025)