PREPRINTS

Parallels between sensory and motor information processing
Todorov E (2008). Manuscript under review, suggestions welcome

General duality between optimal control and estimation
Todorov E (2008). Accepted in the 47th IEEE Conference on Decision and Control

A new mathematical framework for optimal choice of actions
Todorov E (2007). Manuscript under review, suggestions welcome
see also: Supplementary Information

Iterative local dynamic programming
Todorov E (2007). Manuscript under review, suggestions welcome

Structure in variability of muscle activations
Todorov E, Venkadesan M and Valero-Cuevas F (2007). Manuscript under review, suggestions welcome

Mixed muscle-movement representations emerge from optimization of stochastic sensorimotor transformations
Todorov E (2007). Manuscript under review, suggestions welcome

PUBLICATIONS

Optimal trade-off between exploration and exploitation
Simpkins A, de Callafon R and Todorov E (2008). In proceedings of the American Control Conference, in press

Predicting reaching targets from human EEG
Hammon P, Makeig S, Poizner H, Todorov E and de Sa V (2007). IEEE Signal Processing Magazine, 25: 69-77

Evidence for the flexible sensorimotor strategies predicted by optimal feedback control
Liu D and Todorov E (2007). Journal of Neuroscience, 27: 9354-9368

Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic systems
Li W and Todorov E (2007). International Journal of Control, 80: 1439-1453

Probabilistic inference of multi-joint movements, skeletal parameters and marker attachments from diverse sensor data
Todorov E (2007). IEEE Transactions on Biomedical Engineering, 54: 1927-1939

State estimation with finite signals-to-noise models via linear matrix inequalities
Li W, Skelton R and Todorov E (2007). Journal of Dynamic Systems, Measurement and Control, 129: 136-143

Linearly-solvable Markov decision problems
Todorov E (2006). In Advances in Neural Information Processing Systems 19: 1369-1376, Scholkopf et al (eds), MIT Press

Iterative optimal control and estimation design for nonlinear stochastic systems
Li W and Todorov E (2006). In proceedings of the 45th IEEE Control and Decision Conference, pp 3242-3247

Optimal control theory (book chapter)
Todorov E (2006). In Bayesian Brain: Probabilistic Approaches to Neural Coding, Doya K (ed), chap 12, pp 269-298, MIT Press

Optimal control for biological movement systems (doctoral dissertation)
Li W (2006). University of California San Diego

Imitiation learning for reaching and grasping in virtual environments
Singh N and Todorov E (2006). In proceedings of the 5th International Conference on Development and Learning

From task parameters to motor synergies: A hierarchical framework for approximately-optimal control of redundant manipulators
Todorov E, Li W and Pan X (2005). Journal of Robotic Systems, 22(11):691-710

Towards an integrated systems for estimating multi-joint movement from diverse sensor data
Pan X, Todorov E and Li W (2005). In proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 4982-4985

Hierarchical feedback and learning for multi-joint arm movement control
Li W, Todorov E and Pan X (2005). In proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 4400-4403 

A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems
Todorov E and Li W (2005). In proceedings of the American Control Conference, pp 300-306

Estimation and control of systems with multiplicative noise via linear matrix inequalities
Li W, Skelton R and Todorov E (2005). In proceedings of the American Control Conference, pp 1811-1816

Stochastic optimal control and estimation methods adapted to the noise characteristics of the sensorimotor system
Todorov E (2005). Neural Computation, 17(5): 1084-1108

Hierarchical optimal control of redundant biomechanical systems
Li W, Todorov E and Pan X (2004). In proceedings of the 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 4618-4621

Development of clinician-friendly software for musculoskeletal modeling and control
Davoodi R, Urata C, Todorov E and Loeb G (2004). In proceedings of the 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 4622-4625

Analysis of the synergies underlying complex hand manipulation
Todorov E and Ghahramani Z (2004). In proceedings of the 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 4637-4640

Iterative linear-quadratic regulator design for nonlinear biological movement systems
Li W and Todorov E (2004). In proceedings of the 1st International Conference on Informatics in Control, Automation and Robotics, vol 1, pp 222-229

Optimality principles in sensorimotor control (review)
Todorov E (2004). Nature Neuroscience 7(9): 907-915

Optimal control methods suitable for biomechanical systems
Todorov E and Li W (2003). In proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 1758-1761

Unsupervised learning of sensory-motor primitives
Todorov E and Ghahramani Z (2003). In proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 1750-1753

A minimal intervention principle for coordinated movement
Todorov E and Jordan M (2003). In Advances in Neural Information Processing Systems 15: 27-34, Becker, Thrun, Obermayer (eds), MIT Press

On the role of primary motor cortex in arm movement control (book chapter)
Todorov E (2003). In Progress in Motor Control III, ch 6, pp 125-166, Latash and Levin (eds), Human Kinetics

Optimal feedback control as a theory of motor coordination
Todorov E and Jordan M (2002). Nature Neuroscience 5(11): 1226-1235
see also: Supplementary Information; News and Views; Neuroscience News

A biomechanical model of the partially paralyzed human arm
Davoodi R, Brown I, Todorov E and Loeb G (2002). In proceedings of the 7th Annual Conference of the International Functional Electric Stimulation Society

Cosine tuning minimizes motor errors
Todorov E (2002). Neural Computation 14(6): 1233-1260

Use of virtual environments in motor learning and rehabilitation (book chapter)
Holden M and Todorov E (2002). In Handbook of Virtual Environments, ch 49, pp 999-1026, Stanney K (ed), Lawrence Erlbaum Associates

One motor cortex, two different views (debate)
Todorov E, with Georgopoulos A, Ashe J, Moran D, Schwartz A and Scott S (2000). Nature Neuroscience 3(10): 963-965

Direct cortical control of muscle activation in voluntary arm movements: a model
Todorov E (2000). Nature Neuroscience 3(4): 391-398
see also: News and Views

Virtual environment training improves motor performance in two patients with stroke
Holden M, Todorov E, Callahan J and Bizzi E (1999). Neurology Report 23(2): 57-67

Studies of goal-directed movements (doctoral dissertation)
Todorov E (1998). Massachusetts Institute of Technology

Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements
Todorov E and Jordan M (1998). Journal of Neurophysiology 80(2): 696-714

A local circuit approach to understanding integration of long-range inputs in primary visual cortex
Somers D, Todorov E et al (1998). Cerebral Cortex 8(3): 204-211

Augmented feedback presented in a virtual environment accelerates learning of a difficult motor task
Todorov E, Shadmehr R and Bizzi E (1997). Journal of Motor Behavior 29(2): 147-158

Modeling visual cortical contrast adaptation effects
Todorov E, Siapas A, Somers D and Nelson S (1997). In Computational Neuroscience: Trends in Reseach 5: 525-531, Bower (ed), Kluwer Academic

A local circuit integration approach to understanding visual cortical receptive fields
Somers D, Todorov E and Siapas A (1997). In Computational Neuroscience: Trends in Reseach 5: 505-510, Bower (ed), Kluwer Academic

A model of recurrent interactions in primary visual cortex
Todorov E, Siapas A and Somers D (1997). In Advances in Neural Information Processing Systems 9: 118-126, Mozer, Jordan, Petsche (eds), MIT Press

Variable gain control in local cortical circuitry supports context-dependent modulation by long-range connections (book chapter)
Somers D, Toth L, Todorov E et al (1996). In Lateral Interactions in Cortex - Structure and Function, ch 4, Sirosh et al (eds), Online Book

Catastrophic interference in human motor learning
Brashers-Krug T, Shadmehr R and Todorov E (1995). In Advances in Neural Information Processing Systems 7: 19-26, Tesauro, Touretzky, Leen (eds), MIT Press 

Factorial learning by clustering features
Tenenbaum J and Todorov E (1995). In Advances in Neural Information Processing Systems 7: 561-568, Tesauro, Touretzky, Leen (eds), MIT Press