2021
Computing the Newton-step faster than Hessian accumulation.
CoRR, 2021
2020
Lyceum: An efficient and scalable ecosystem for robot learning.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020
2019
Learning Deep Visuomotor Policies for Dexterous Hand Manipulation.
Proceedings of the International Conference on Robotics and Automation, 2019
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control.
Proceedings of the 7th International Conference on Learning Representations, 2019
2018
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system.
Proceedings of the 2018 IEEE International Conference on Simulation, 2018
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations.
Proceedings of the Robotics: Science and Systems XIV, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations.
CoRR, 2017
Towards Generalization and Simplicity in Continuous Control.
Proceedings of the Advances in Neural Information Processing Systems 30: Annual Conference on Neural Information Processing Systems 2017, 2017
2016
Learning Dexterous Manipulation Policies from Experience and Imitation.
CoRR, 2016
Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Optimal control with learned local models: Application to dexterous manipulation.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016
2015
Convex Structured Controller Design in Finite Horizon.
IEEE Trans. Control. Netw. Syst., 2015
Interactive Control of Diverse Complex Characters with Neural Networks.
Proceedings of the Advances in Neural Information Processing Systems 28: Annual Conference on Neural Information Processing Systems 2015, 2015
Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Whole-body model-predictive control applied to the HRP-2 humanoid.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
MuJoCo HAPTIX: A virtual reality system for hand manipulation.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015
Physically consistent state estimation and system identification for contacts.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015
2014
Universal Convexification via Risk-Aversion.
Proceedings of the Thirtieth Conference on Uncertainty in Artificial Intelligence, 2014
Combining the benefits of function approximation and trajectory optimization.
Proceedings of the Robotics: Science and Systems X, 2014
Physically-consistent sensor fusion in contact-rich behaviors.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Design, optimization, calibration, and a case study of a 3D-printed, low-cost fingertip sensor for robotic manipulation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Control-limited differential dynamic programming.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Real-time behaviour synthesis for dynamic hand-manipulation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Convex risk averse control design.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014
2013
Animating human lower limbs using contact-invariant optimization.
ACM Trans. Graph., 2013
Convex Structured Controller Design.
CoRR, 2013
Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
STAC: Simultaneous tracking and calibration.
Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots, 2013
Time varying nonlinear Policy Gradients.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013
Convexity of optimal linear controller design.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013
The δ - sensitivity and its application to stochastic optimal control of nonlinear diffusions.
Proceedings of the American Control Conference, 2013
Multi-robot active SLAM with relative entropy optimization.
Proceedings of the American Control Conference, 2013
Convex control design via covariance minimization.
Proceedings of the 51st Annual Allerton Conference on Communication, 2013
Value function approximation and model predictive control.
Proceedings of the 2013 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2013
Free energy based policy gradients.
Proceedings of the 2013 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2013
2012
Discovery of complex behaviors through contact-invariant optimization.
ACM Trans. Graph., 2012
Contact-Invariant Optimization for Hand Manipulation.
Proceedings of the 2012 Eurographics/ACM SIGGRAPH Symposium on Computer Animation, 2012
Tendon-Driven Variable Impedance Control Using Reinforcement Learning.
Proceedings of the Robotics: Science and Systems VIII, 2012
MuJoCo: A physics engine for model-based control.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Synthesis and stabilization of complex behaviors through online trajectory optimization.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Trajectory optimization for domains with contacts using inverse dynamics.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Tendon-driven control of biomechanical and robotic systems: A path integral reinforcement learning approach.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Reduced dimensionality control for the ACT hand.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Relative entropy and free energy dualities: Connections to Path Integral and KL control.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012
Stochastic optimal control for nonlinear markov jump diffusion processes.
Proceedings of the American Control Conference, 2012
Linearly solvable Markov games.
Proceedings of the American Control Conference, 2012
2011
A Unifying Framework for Linearly Solvable Control.
Proceedings of the UAI 2011, 2011
Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts.
Proceedings of the Robotics: Science and Systems VII, 2011
Design and analysis of an artificial finger joint for anthropomorphic robotic hands.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
A convex, smooth and invertible contact model for trajectory optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Modular bio-mimetic robots that can interact with the world the way we do.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Neuromuscular stochastic optimal control of a tendon driven index finger model.
Proceedings of the American Control Conference, 2011
Moving least-squares approximations for linearly-solvable MDP.
Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning, 2011
High-order local dynamic programming.
Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning, 2011
Complex object manipulation with hierarchical optimal control.
Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming And Reinforcement Learning, 2011
2010
Stochastic Complementarity for Local Control of Discontinuous Dynamics.
Proceedings of the Robotics: Science and Systems VI, 2010
Policy gradients in linearly-solvable MDPs.
Proceedings of the Advances in Neural Information Processing Systems 23: 24th Annual Conference on Neural Information Processing Systems 2010. Proceedings of a meeting held 6-9 December 2010, 2010
Implicit nonlinear complementarity: A new approach to contact dynamics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Inverse Optimal Control with Linearly-Solvable MDPs.
Proceedings of the 27th International Conference on Machine Learning (ICML-10), 2010
Stochastic Differential Dynamic Programming.
Proceedings of the American Control Conference, 2010
Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors.
Proceedings of the American Control Conference, 2010
2009
Efficient computation of optimal actions.
Proc. Natl. Acad. Sci. USA, 2009
Compositionality of optimal control laws.
Proceedings of the Advances in Neural Information Processing Systems 22: 23rd Annual Conference on Neural Information Processing Systems 2009. Proceedings of a meeting held 7-10 December 2009, 2009
Iterative local dynamic programming.
Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
Eigenfunction approximation methods for linearly-solvable optimal control problems.
Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
Practical numerical methods for stochastic optimal control of biological systems in continuous time and space.
Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
Hierarchical optimal control of a 7-DOF arm model.
Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
Real-time motor control using recurrent neural networks.
Proceedings of the IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
2008
Predicting Reaching Targets from Human EEG.
IEEE Signal Process. Mag., 2008
General duality between optimal control and estimation.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008
Optimal trade-off between exploration and exploitation.
Proceedings of the American Control Conference, 2008
2007
Probabilistic Inference of Multijoint Movements, Skeletal Parameters and Marker Attachments From Diverse Motion Capture Data.
IEEE Trans. Biomed. Eng., 2007
Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic system.
Int. J. Control, 2007
2006
Linearly-solvable Markov decision problems.
Proceedings of the Advances in Neural Information Processing Systems 19, 2006
An Iterative Optimal Control and Estimation Design for Nonlinear Stochastic System.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
2005
Stochastic Optimal Control and Estimation Methods Adapted to the Noise Characteristics of the Sensorimotor System.
Neural Comput., 2005
From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators.
J. Field Robotics, 2005
A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems.
Proceedings of the American Control Conference, 2005
Estimation and control of systems with multiplicative noise via linear matrix inequalities.
Proceedings of the American Control Conference, 2005
2004
Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems.
Proceedings of the ICINCO 2004, 2004
2002
Cosine Tuning Minimizes Motor Errors.
Neural Comput., 2002
A Minimal Intervention Principle for Coordinated Movement.
Proceedings of the Advances in Neural Information Processing Systems 15 [Neural Information Processing Systems, 2002
1996
A Model of Recurrent Interactions in Primary Visual Cortex.
Proceedings of the Advances in Neural Information Processing Systems 9, 1996
1994
Factorial Learning by Clustering Features.
Proceedings of the Advances in Neural Information Processing Systems 7, 1994
Catastrophic Interference in Human Motor Learning.
Proceedings of the Advances in Neural Information Processing Systems 7, 1994