Search Results - "Todorov, Emanuel"

Efficient computation of optimal actions by Todorov, Emanuel

“…Optimal choice of actions is a fundamental problem relevant to fields as diverse as neuroscience, psychology, economics, computer science, and control…”
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Evidence for the Flexible Sensorimotor Strategies Predicted by Optimal Feedback Control by Liu, Dan, Todorov, Emanuel

“…Everyday movements pursue diverse and often conflicting mixtures of task goals, requiring sensorimotor strategies customized for the task at hand. Such…”
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Stochastic optimal control and estimation methods adapted to the noise characteristics of the sensorimotor system by Todorov, Emanuel

“…Optimality principles of biological movement are conceptually appealing and straightforward to formulate. Testing them empirically, however, requires the…”
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Synthesis and stabilization of complex behaviors through online trajectory optimization by Tassa, Y., Erez, T., Todorov, E.

“…We present an online trajectory optimization method and software platform applicable to complex humanoid robots performing challenging tasks such as getting up…”
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Optimal feedback control as a theory of motor coordination by Todorov, Emanuel, Jordan, Michael I

“…A central problem in motor control is understanding how the many biomechanical degrees of freedom are coordinated to achieve a common goal. An especially…”
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Structured Variability of Muscle Activations Supports the Minimal Intervention Principle of Motor Control by Valero-Cuevas, Francisco J, Venkadesan, Madhusudhan, Todorov, Emanuel

“…1 Department of Biomedical Engineering, University of Southern California and 2 Division of Biokinesiology and Physical Therapy, University of Southern…”
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Direct cortical control of muscle activation in voluntary arm movements: a model by Todorov, Emanuel

“…What neural activity in motor cortex represents and how it controls ongoing movement remain unclear. Suggestions that cortex generates low-level muscle control…”
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Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data by Todorov, Emanuel

“…This paper describes a comprehensive solution to the problem of reconstructing the multijoint movement trajectories of the human body from diverse motion…”
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Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration by Zhe Xu, Todorov, Emanuel

“…A wide range of research areas, from telemanipulation in robotics to limb regeneration in tissue engineering, could benefit from an anthropomorphic robotic…”
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Cosine tuning minimizes motor errors by Todorov, Emanuel

“…Cosine tuning is ubiquitous in the motor system, yet a satisfying explanation of its origin is lacking. Here we argue that cosine tuning minimizes expected…”
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Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX by Erez, Tom, Tassa, Yuval, Todorov, Emanuel

“…There is growing need for software tools that can accurately simulate the complex dynamics of modern robots. While a number of candidates exist, the field is…”
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Optimality principles in sensorimotor control by Todorov, Emanuel

“…The sensorimotor system is a product of evolution, development, learning and adaptation-which work on different time scales to improve behavioral performance…”
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General duality between optimal control and estimation by Todorov, E.

“…Optimal control and estimation are dual in the LQG setting, as Kalman discovered, however this duality has proven difficult to extend beyond LQG. Here we…”
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A convex, smooth and invertible contact model for trajectory optimization by Todorov, Emanuel

“…Trajectory optimization is done most efficiently when an inverse dynamics model is available. Here we develop the first model of contact dynamics defined in…”
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Physically consistent state estimation and system identification for contacts by Kolev, Svetoslav, Todorov, Emanuel

“…Successful model based control relies heavily on proper system identification and accurate state estimation. We present a framework for solving these problems…”
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Learning Deep Visuomotor Policies for Dexterous Hand Manipulation by Jain, Divye, Li, Andrew, Singhal, Shivam, Rajeswaran, Aravind, Kumar, Vikash, Todorov, Emanuel

“…Multi-fingered dexterous hands are versatile and capable of acquiring a diverse set of skills such as grasping, in-hand manipulation, and tool use. To fully…”
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Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids by Mordatch, Igor, Lowrey, Kendall, Todorov, Emanuel

“…While a lot of progress has recently been made in dynamic motion planning for humanoid robots, much of this work has remained limited to simulation. Here we…”
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Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands by Kumar, Vikash, Zhe Xu, Todorov, Emanuel

“…We describe a pneumatic actuation system for dexterous robotic hands. It was motivated by our desire to improve the ShadowHand system, yet it is quite…”
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MuJoCo: A physics engine for model-based control by Todorov, E., Erez, T., Tassa, Y.

“…We describe a new physics engine tailored to model-based control. Multi-joint dynamics are represented in generalized coordinates and computed via recursive…”
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Eigenfunction approximation methods for linearly-solvable optimal control problems by Todorov, E.

“…We have identified a general class of nonlinear stochastic optimal control problems which can be reduced to computing the principal eigenfunction of a linear…”
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