Emanuel Todorov
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Why Is Emanuel Todorov Influential?
(Suggest an Edit or Addition)According to Wikipedia, Emanuel Vassilev Todorov , a neuroscientist, is an associate professor and director of the Movement Control Laboratory at the University of Washington. He introduced the use of optimal control as a formal explanatory framework for biological movement . He is the principal developer of the MuJoCo physics engine.
Emanuel Todorov's Published Works
Number of citations in a given year to any of this author's works
Total number of citations to an author for the works they published in a given year. This highlights publication of the most important work(s) by the author
Published Works
- MuJoCo: A physics engine for model-based control (2012) (3519)
- Optimal feedback control as a theory of motor coordination (2002) (2736)
- Optimality principles in sensorimotor control (2004) (1597)
- Optimal Control Theory (2006) (768)
- Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations (2017) (684)
- Synthesis and stabilization of complex behaviors through online trajectory optimization (2012) (680)
- A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems (2005) (664)
- Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems (2004) (549)
- Discovery of complex behaviors through contact-invariant optimization (2012) (446)
- Direct cortical control of muscle activation in voluntary arm movements: a model (2000) (434)
- Evidence for the Flexible Sensorimotor Strategies Predicted by Optimal Feedback Control (2007) (423)
- Efficient computation of optimal actions (2009) (399)
- Linearly-solvable Markov decision problems (2006) (391)
- Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System (2005) (370)
- Augmented Feedback Presented in a Virtual Environment Accelerates Learning of a Difficult Motor Task. (1997) (312)
- General duality between optimal control and estimation (2008) (283)
- Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements. (1998) (250)
- Towards Generalization and Simplicity in Continuous Control (2017) (232)
- Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX (2015) (219)
- Structured variability of muscle activations supports the minimal intervention principle of motor control. (2009) (217)
- A local circuit approach to understanding integration of long-range inputs in primary visual cortex. (1998) (213)
- Whole-body model-predictive control applied to the HRP-2 humanoid (2015) (193)
- Analysis of the synergies underlying complex hand manipulation (2004) (179)
- Optimal control with learned local models: Application to dexterous manipulation (2016) (178)
- Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration (2016) (170)
- Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control (2018) (162)
- Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system (2007) (162)
- Virtual Environment Training Improves Motor Performance in Two Patients with Stroke: Case Report (1999) (146)
- Contact-invariant optimization for hand manipulation (2012) (144)
- Inverse Optimal Control with Linearly-Solvable MDPs (2010) (143)
- An integrated system for real-time model predictive control of humanoid robots (2013) (142)
- Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids (2015) (142)
- From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators (2005) (139)
- A Minimal Intervention Principle for Coordinated Movement (2002) (125)
- Cosine Tuning Minimizes Motor Errors (2002) (116)
- Stochastic Differential Dynamic Programming (2010) (114)
- Predicting Reaching Targets from Human EEG (2008) (114)
- Compositionality of optimal control laws (2009) (113)
- Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo (2014) (109)
- Combining the benefits of function approximation and trajectory optimization (2014) (107)
- Interactive Control of Diverse Complex Characters with Neural Networks (2015) (106)
- Relative entropy and free energy dualities: Connections to Path Integral and KL control (2012) (106)
- Control-limited differential dynamic programming (2014) (92)
- A convex, smooth and invertible contact model for trajectory optimization (2011) (91)
- Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts (2011) (84)
- Animating human lower limbs using contact-invariant optimization (2013) (80)
- MuJoCo HAPTIX: A virtual reality system for hand manipulation (2015) (76)
- Trajectory optimization for domains with contacts using inverse dynamics (2012) (72)
- Learning Dexterous Manipulation Policies from Experience and Imitation (2016) (68)
- Unsupervised learning of sensory-motor primitives (2003) (63)
- Value function approximation and model predictive control (2013) (62)
- Real-time behaviour synthesis for dynamic hand-manipulation (2014) (61)
- Stochastic Complementarity for Local Control of Discontinuous Dynamics (2010) (59)
- Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands (2013) (58)
- Design of an anthropomorphic robotic finger system with biomimetic artificial joints (2012) (51)
- Iterative local dynamic programming (2009) (49)
- Eigenfunction approximation methods for linearly-solvable optimal control problems (2009) (45)
- Optimal control methods suitable for biomechanical systems (2003) (45)
- Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system (2018) (44)
- Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data (2007) (43)
- A low-cost and modular, 20-DOF anthropomorphic robotic hand: design, actuation and modeling (2013) (43)
- Physically consistent state estimation and system identification for contacts (2015) (42)
- Implicit nonlinear complementarity: A new approach to contact dynamics (2010) (41)
- On the role of primary motor cortex in arm movement control (2003) (39)
- Estimation and control of systems with multiplicative noise via linear matrix inequalities (2005) (39)
- First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing (2011) (35)
- Linearly Solvable Optimal Control (2013) (35)
- Inverse Optimality Design for Biological Movement Systems (2011) (35)
- Hierarchical optimal control of a 7-DOF arm model (2009) (34)
- Hierarchical optimal control of redundant biomechanical systems (2004) (32)
- Identification and control of a pneumatic robot (2010) (31)
- Modeling and identification of pneumatic actuators (2013) (31)
- A Unifying Framework for Linearly Solvable Control (2011) (31)
- Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors (2010) (31)
- Catastrophic Interference in Human Motor Learning (1994) (31)
- Reinforcement Learning and Synergistic Control of the ACT Hand (2013) (30)
- Design and analysis of an artificial finger joint for anthropomorphic robotic hands (2011) (30)
- Learning Deep Visuomotor Policies for Dexterous Hand Manipulation (2019) (28)
- Multi-robot active SLAM with relative entropy optimization (2013) (25)
- Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach (2012) (24)
- A UNIFIED THEORY OF LINEARLY SOLVABLE OPTIMAL CONTROL (2012) (22)
- Convex Structured Controller Design in Finite Horizon (2015) (21)
- Neuromuscular stochastic optimal control of a tendon driven index finger model (2011) (20)
- Optimal trade-off between exploration and exploitation (2008) (20)
- Tendon-Driven Variable Impedance Control Using Reinforcement Learning (2012) (19)
- Convexity of optimal linear controller design (2013) (18)
- Real-time motor control using recurrent neural networks (2009) (18)
- Parallels between sensory and motor information processing (2008) (18)
- Stochastic optimal control for nonlinear markov jump diffusion processes (2012) (17)
- From Inverse Kinematics to Optimal Control (2014) (17)
- Development of clinician-friendly software for musculoskeletal modeling and control (2004) (17)
- Theory and Implementation of Biomimetic Motor Controllers (2011) (16)
- Modeling Visual Cortical Contrast Adaptation Effects (1997) (16)
- Finding the Most Likely Trajectories of Optimally-Controlled Stochastic Systems (2011) (15)
- Policy gradients in linearly-solvable MDPs (2010) (15)
- From information theoretic dualities to Path Integral and Kullback Leibler control : Continuous and Discrete Time formulations (2013) (14)
- Physically-consistent sensor fusion in contact-rich behaviors (2014) (14)
- Lyceum: An efficient and scalable ecosystem for robot learning (2020) (14)
- Moving least-squares approximations for linearly-solvable stochastic optimal control problems (2011) (14)
- Hierarchical Feedback and Learning for Multi-joint Arm Movement Control (2005) (14)
- Reduced dimensionality control for the ACT hand (2012) (14)
- Convex Structured Controller Design (2013) (12)
- Reply to 'One motor cortex, two different views' (2000) (12)
- Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation (2014) (12)
- Infinite Horizon Optimal Control Framework for Goal Directed Movements (2010) (12)
- A Model of Recurrent Interactions in Primary Visual Cortex (1996) (11)
- Aggregation Methods for Lineary-Solvable Markov Decision Process (2011) (11)
- Complex object manipulation with hierarchical optimal control (2011) (10)
- STAC: Simultaneous tracking and calibration (2013) (9)
- Universal Convexification via Risk-Aversion (2014) (8)
- Convex risk averse control design (2014) (8)
- High-order local dynamic programming (2011) (7)
- Practical numerical methods for stochastic optimal control of biological systems in continuous time and space (2009) (7)
- Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach (2016) (7)
- Optimal Limit-Cycle Control recast as Bayesian Inference (2011) (7)
- Vector-space integration of local and long-range information in visual cortex 7 (1995) (6)
- VIRTUAL ENVIRONMENT TRAINING IMPROVES MOTOR PERFORMANCE IN TWO STROKE PATIENTS. (1998) (6)
- Vector-based Integration of Local and Long-range Information in Visual Cortex (1995) (6)
- Receding-horizon online optimization for dexterous object manipulation (2013) (5)
- Goal Directed Dynamics (2018) (5)
- Factorial Learning by Clustering Features (1994) (5)
- A Biomechanical Model of the Partially Paralyzed Human Arm (2002) (5)
- Modular bio-mimetic robots that can interact with the world the way we do (2011) (5)
- Convex control design via covariance minimization (2013) (4)
- Policy gradient methods with model predictive control applied to ball bouncing (2011) (4)
- Graphical Newton (2015) (3)
- Motor co-ordination in humans is guided by optimal feedback control (2003) (3)
- The UW Hand : A Low-cost , 20-DOF Tendon-driven Hand with Fast and Compliant Actuation (2012) (2)
- Moving least-squares approximations for linearly-solvable MDP (2011) (2)
- Free energy based policy gradients (2013) (2)
- Revision of JN-RM-3106-07 Recurrent neural networks trained in the presence of noise give rise to mixed muscle-movement representations (2008) (2)
- Linearly solvable Markov games (2012) (2)
- Imitation learning for reaching and grasping in virtual environments (2006) (2)
- Towards an Integrated System for Estimating Multi-joint Movement from Diverse Sensor Data (2005) (1)
- A new mathematical framework for optimal choice of actions (2007) (1)
- A Compliant Biomimetic Artificial Finger for Anthropomorphic Robotic Hands via 3 D Rapid Prototyping (2012) (1)
- Degrees of freedom and hand synergies in manipulation tasks (2000) (1)
- State Estimation With Finite Signal-to-Noise Models via Linear Matrix Inequalities (2007) (1)
- Time varying nonlinear Policy Gradients (2013) (1)
- Computing the Newton-step faster than Hessian accumulation (2021) (1)
- High performance pneumatics using Model Predictive Control (2016) (1)
- A FIRST OPTIMAL CONTROL SOLUTION FOR A COMPLEX, NONLINEAR, TENDON DRIVEN NEUROMUSCULAR FINGER MODEL (2010) (1)
- Unsupervised learning of sensory-motor synergies (2003) (0)
- The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions (2013) (0)
- Girsanov Based Direct Policy Gradient Methods (2012) (0)
- Learning and optimization of novel sensorimotor feedback loops : Internal models meet classical conditioning (2010) (0)
- Modeling Social Common Sense for Seamless Human Machine Teaming: Inverting the Intuitive Game Engine with Probabilistic Programming (2017) (0)
- Control using Recurrent Neural N (2009) (0)
- Faculty Opinions recommendation of Parallel computations for controlling an arm. (2001) (0)
- A theory of optimal motor-sensory primitives (2001) (0)
- Stochastic optimal control and Bayesian inference: an emerging theoretical framework for sensorimotor integration (2007) (0)
- Stochastic Optimal Control on a Biologically Inspired Robotic Finger (2009) (0)
- Reply to 'One motor cortex, two different views' (2000) (0)
- Engineering Sciences (Aerospace Engineering) (2006) (0)
- Title : Infinite horizon optimal control framework for goal directed movements Location : Halls (2010) (0)
- FFF 2 Title : Infinite horizon optimal control framework for goal directed movements Location : Halls BH Presentation Time : (0)
- Stochastic optimal control methods for uncertain predictive reaching movements (2008) (0)
- Errata [to "Predicting Reaching Targets from Human EEG" (Jan 08 69-77)] (2008) (0)
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