Journal Publications :

  1. K. Bakshi, E.A Theodorou. Stochastic Control of Markov Jump Diffusion Processes: Optimality Principles and Algorithms. Under review

  2. G. De La Torre, E.A Theodorou and E. Johnson. Autonomous Suspended Load Operations via Trajectory Optimization and Variational Integrators. Under review

  3. E.A Theodorou. Nonlinear Stochastic Control and Information Theoretic Dualities: Connections, Interedependencies and Thermodynamic Interpetations. Entropy 2015, 17, 3352-3375. NEW

  4. M. Mistry, E. Theodorou, S. Schaal, and M. Kawato. Optimal control of reaching includes kinematic constrains. JOURNAL OF NEUROPHYSIOLOGY, 110:1-11, 2013.

  5. P. Pastor, M. Kalakrishnan, F. Meier, F. Stulp, Buchli J, E.A. Theodorou, and S. Schaal. From Dynamic Movement Primitives to Associative Skill Memories. ROBOTICS AND AUTONOMOUS SYSTEMS. 61(4):351-361, 2013 (Invited Paper)

  6. E. Rombocas, M. Mathora, E. Theodorou, E. Todorov and Y Matsuoka. Reinforcement Learning and Synergistic Control of the ACT hand. IEEE TRANSACTIONS ON MECHATRONICS. 18(2):569-577, 2013

  7. F. Stulp, E.A. Theodorou and S. Schaal. Reinforcement Learning With Sequence of Motion Primitives for Robust Manipulation. IEEE TRANSACTIONS ON ROBOTICS, 28(6):1360 -1370, 2012 PDF King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics, for the year 2012.

  8. F. Stulp, J. Buchli, A. Ellmer, M. Mistry, E. A. Theodorou, and S. Schaal. Model-free Reinforcement Learning of Impedance Control in Stochastic Environments. IEEE Transactions of Autonomous Mental Development (TAMD) , 4(4):330-341, 2012.

  9. Theodorou E(2011). Iterative path integral stochastic optimal control: Theory and applications to motor control. PhD Thesis, University of Southern California. PDF

  10. J. Buchli, F. Stulp, E. Theodorou and S. Schaal. (2011). Learning variable impedance control, INTERNATIONAL JOURNAL OF ROBOTIC RESEARCH. PDF

  11. E. Theodorou, J. Buchli, and S. Schaal (2010). A Generalized Path Integral Control Approach to Reinforcement Learning. JOURNAL OF MACHINE LEARNING RESEARCH, 11, pp.3137-3181 PDF Erratum: PDF

  12. Valero-Cuevas FJ, Hoffmann H, Kurse M, Kutch JJ, Theodorou E (2009). Computational models for neuromuscular function. IEEE REVIEWS IN BIOMEDICAL ENGINEERING --(All authors have equally contributed), 2, pp.110 -135. PDF


Conference Publications:

  1. M. Kontitsis, P. Tsiotras and E.A. Theodorou. An Information-Theoretic Active Localization Approach during Relative Circumnavigation in Orbit. To appear at the AIAA Guidance, Navigation, and Control Conference, San Diego, 2016. NEW

  2. M. Gandhi, E.A. Theodorou. Comparison between Trajectory Optimization Methods: Differential Dynamic Programming and Pseudospectral Optimal Control. To appear at the AIAA Guidance, Navigation, and Control Conference, San Diego, 2016. NEW

  3. G. De La Torre and E.A. Theodorou. Stochastic Variational Integrators for System Propagation and Linearization. Accepted in IMA conference on Mathematics of Robotics, 2015. NEW

  4. Y. Pan, K. Bakshi, E.A. Theodorou. Robust trajectory optimization: A stochastic cooperative game theoretic approach. Robotics: Sciences and Systems (RSS) 2015.

  5. W. Sun, E.A. Theodorou and P. Tsiotras. Game Theoretic Differential Dynamic Programming in Continuous Time. In American Control Conference (ACC) 2015.

  6. Y. Pan, E.A. Theodorou Data Driven Differential Dynamic Programming Using Gaussian Processes. In American Control Conference (ACC) 2015.

  7. Y. Pan, E.A. Theodorou Probabilistic Differential Dynamic Programming. Neural Information Processing Systems (NIPS) 2014.

  8. Y. Pan, E.A. Theodorou. Model-based Path Integral Stochastic Control: A Bayesian Nonparametric Approach Accepted to NIPS Autonomous Learning Robots workshop 2014.

  9. A. Oktay, E.A. Theodorou and P. Tsiotras. Information-Theoretic Stochastic Optimal Control via Incremental Sampling-based Algorithms. In Adaptive Dynamic Programming and Reinforcement Learning(ADPRL) 2014.

  10. W. Sun, E.A. Theodorou and P. Tsiotras. Continuous Time Differential Dynamic Programming. In Adaptive Dynamic Programming and Reinforcement Learning(ADPRL) 2014.

  11. Y. Pan, E.A. Theodorou. Nonparametric Infinite Horizon Kullback Leibler Stochastic Control In Adaptive Dynamic Programming and Reinforcement Learning(ADPRL) 2014.

  12. G. De La Torre, E. Johnson and E.A. Theodorou. Guidance for Slung Load Operations through Differential Dynamic Programming. In American Helicopter Society(AHS) 2014.

  13. K. Dvijotham,E. Theodorou, E. Todorov and Maryam Fazel. Convexity of Optimal Control Design. In Control Decision Conference (CDC) 2013,

  14. E. Theodorou, K. Dvijotham and E. Todorov. Nonlinear Time Varying Policy Gradients In Control Decision Conference (CDC) 2013,

  15. E. Theodorou, K. Dvijotham and E. Todorov. From Information theoretic dualities to Path Integral and Kullback Leibler control: Continuous and Discrete Time Formulations. In 16th Yale workshop on Learning and Adaptive Systems, 2013.

  16. M. Kontitsis, E. Theodorou and E. Todorov. Mutlirobot Active SLAM with Relative Entropy Minimization. In American Control Conference (ACC), 2013.

  17. E.A. Theodorou and E. Todorov. The delta-sensitivity and its application to stochastic optimal control of nonlinear markov diffusions. In American Control Conference (ACC) 2013.

  18. E. Theodorou,J. Najemnik and E. Todorov. Free Energy Based Policy Gradients. In Approximate Dynamic Programming and Reinforcement Learning, 2013.

  19. E. Theodorou and E. Todorov. Information Theoretic Views of Path Integral Control. In NIPS workshop on Information of Action and Perception, 2012. PDF

  20. E. Theodorou and E. Todorov. Relative Entropy Free Energy Dualities: Connection to Path Integral and KL control. To appear in the 51st IEEE Control Decision Conference (CDC), 2012. PDF

  21. E. Theodorou and E. Todorov. Stochastic Optimal Control of Nonlinear Markov Jump Diffusion Processes. In the Proceedings American Control Conference, (ACC) 2012. PDF

  22. M. Malhotra, E. Rombokas, E. Theodorou, E. Todorov and Y. Matsuoka, Tendon driven variable stifness control with reinfrorcement learning. In Robotics Systems Sciences (RSS) 2012. PDF

  23. M. Malhotra, E. Rombokas, E. Theodorou, E. Todorov and Y. Matsuoka, Reduced dimensionality control for the ACT hand. In the International Conference of Robotics and Automation (ICRA) 2012. PDF

  24. E. Rombokas, E. Theodorou, M. Malhotra, E. Todorov and Y. Matsuoka. Tendon-driven control of biomechanical and robotic systems: A path-integral reinforcement learning approach. In the International Conference of Robotics and Automation , (ICRA) 2012. PDF

  25. F. Meyer, E. Theodorou and S. Schaal. Movement Segmentation and Recognition for Imitation Learning. In International Conference on Artificial intelligence and Statistics 2012.

  26. F. Stulp, E. Theodorou and S. Schaal. Learning Motion Primitive Goals for Robust Manipulations. In the International Conference on Intelligent Robotic Systems , (IROS) 2011.PDF

  27. E. Theodorou, F. Stulp and S. Schaal. Path Integral Reinforcement Learning. In the Proceedings of the 15th Yale Workshop on Adaptive and Learning Systems, 2011. PDF

  28. F. Meyer,E. Theodorou, F. Stulp, J. Buchli, S. Schaal. Movement segmentation using a library of primitives. In the International Conference on Intelligent Robotic Systems, San Francisco, (IROS) 2011.PDF

  29. F. Stulp, J. Buchli, A. Ellmer, M. Mistry, E. Theodorou and S. Schaal. Reinforcement Learning of Impedance Control in Stochastic Force Fields. In IEEE International Conference on Development and Learning ,
    and Epigenetic Robotics
    , Frakfurt, Germany, (ICDL) 2011.

  30. E. Theodorou, F. Stulp, J. Buchli and S. Schaal. Iterative Path Integral Stochastic Optimal Control for Learning Robotic Tasks. In the 18th World Congress of The International Federation of Automatic Control , Milan Italy, (IFAC)2011. PDF

  31. Daniel A. Braun, Pedro A. Ortega, E. Theodorou, and S. Schaal. Path Integral Control and Bounded Rationality. In IEEE conference of Approximate Dynamic Programming and Reinforcement Learning , Paris, (ADPRL) 2011. PDF

  32. P. Pastor, M. Kalakrishnan, S. Chitta, E. Theodorou, S. Schaal. Skill Learning and Performance Prediction for Manipulation. In IEEE International Conference of Robotics and Automation , Shanghai, China, (ICRA) 2011.PDF Best paper award in Cognitive Robotics

  33. M. Kalakrishnan, S. Chitta, E. Theodorou, P. Pastor, S. Schaal. STOMP: Stochastic Trajectory Optimization for Motion Planning. In IEEE International Con- ference of Robotics and Automation , Shanghai, China, (ICRA) 2011. PDF

  34. F. Stulp, E. Theodorou, J. Buchli and S. Schaal. Learning to Grasp under Uncertainty. In IEEE International Conference of Robotics and Automation, Shanghai , China (ICRA) 2011. PDF

  35. E. Theodorou, E. Todorov and Valero-Cuevas FJ. Neuromuscular Stochasstic Optimal Control of a Tendon Driven Index Finger. In the Proceedings American Control Conference , San Francisco, (ACC) 2011.PDF

  36. F. Stulp, J. Buchli, E. Theodorou and S. Schaal. Reinforcement Learning of Full-body Humanoid Motor Skills. In International Conference on Humanoid Robotics 2010. Finalist for the best paper award.

  37. E. Theodorou and Valero-Cuevas FJ. Optimality in Neuromuscular Systems. In 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society , (EMBS) 2010.

  38. J. Buchli, E. Theodorou, F. Stulp and Schaal S. Variable Impedance Control - A Reinforcement Learning Approach . In Robotic Systems Sciences (RSS) 2010. PDF

  39. E. Theodorou, J. Buchli, F. Stulp and Schaal S. An Iterative Path Integral Reinforcement Learning Approach. Sbowbird Learning Workshop , 2010. PDF

  40. E. Theodorou, E. Todorov and Valero-Cuevas FJ. A First optimal control solution for complex nonlinear, tendon driven neuromuscular Finger model. In the American Society of Mechanical Engineering , (ASME) 2010. PDF

  41. E. Theodorou, J. Buchli and S. Schaal. Learning Policy Improvement with Path Integrals. In International Conference on Artificial intelligence and Statistics (AISTATS) 2010.

  42. E.A. Theodorou, J. Buchli , and S. Schaal. Reinforcement Learning of Motor Skills in high dimensions: A path integral approach. In IEEE International Conference On Robotics and Automation (ICRA) 2010.
  43. E. Theodorou, Y. Tassa and E. Todorov. Stochastic Differential Dynamic Programming. In the Proceedings of American Control Conference (ACC) , 2010. PDF

  44. E. Theodorou, J. Buchli and S. Schaal. Path Integral Stochastic Optimal Control for Rigid Body Dynamcis. In IEEE symposium on Adaptive Dynamic Programming and Reinforcement Learning , (ADPRL) 2009. PDF

  45. J. Ting, E. Theodorou, and S. Schaal. Learning an Outlier - Robust Kalman Filter. In European Conference on Machine Learning (ECML) , 2007 PDF

  46. J. Ting, E. Theodorou , and S. Schaal. Kalman Filter for Robust Outlier Detection. In IEEE International Conference on Intelligent Robotic Systems (IROS), 2007. PDF


Peer Review Abstracts:

  1. Hoffmann H, Theodorou E, and Schaal S. Optimization Strategies in Human Reinforcement Learning. In: Advances in Computational Motor Control VII, Sympo-sium at the Society of Neuroscience Meeting, Washington DC, 2008.

  2. Mistry M, Theodorou E, Liaw G, Yoshioka T, Schaal S, and Kawato M. Adaptation to a suboptimal desired trajectory. In: Advances in Computational Motor Con- trol VII, Symposium at the Society of Neuroscience Meeting, Washington DC, 2008.


Abstracts:

  1. Theodorou E, and Schaal S. Learning Optimal Control Solutions: A Path Integral Approach. In: Neural Control of Movement Conference, May, 2010.

  2. Hoffmann H,Theodorou E, and Schaal S. Human optimization strategies under reward feedback. In: Neural Control of Movement Conference, May, 2009. Poster abstract.

  3. Mistry M, Theodorou E, Hoffmann H, and Schaal S. The dual role of uncertainty in force field learning experiments. In: Neural Control of Movement Conference, May, 2008. Poster abstract.

  4. Hoffmann H, Theodorou E, and Schaal S. Behavioral Experiments on reinforcement learning in human motor control. In : Neural Control of Movement Conference, May, 2008. Poster abstract.

  5. Mistry M, Theodorou E, Schaal S, and Kawato M. Uncertain 3D force field in reaching movements: Do humans favor robust or average performance. In: Society of Neuroscience meeting, 2007. Poster abstract.

  6. Theodorou E, Peters J, and Schaal S. Policy Gradient methods for optimal control of arm Movements. In: Society of Neuroscience meeting, 2007. Poster abstract.


Technical Reports:

  1. Ting J, Theodorou E, Schaal S (2007). Learning an Outlier-Robust Kalman Filter, CLMC Technical Report: TR-CLMC-2007-1.

  2. Theodorou Eand Schrater P. Statistical Learning of LQG controllers. Technical Report: UMN - TR - 2006 - 1.

  3. Theodorou E, Linear and Nonlinear Estimation models applied to Hemodynamic Model. Technical Report: UMN: TR - 2005 - 1.

  4. Theodorou E and Hidaka Y. Parametric and Nonparametric approaches to Tracking of moving objects. Technical Report: UMN- TR - 2005 - 2.