Real-time behaviour synthesis for dynamic hand manipulation

V. Kumar, Y. Tassa, T. Erez, E. Todorov, ICRA, 2014.
http://homes.cs.washington.edu/~todorov/papers/KumarICRA14.pdf PDF http://homes.cs.washington.edu/~todorov/media/KumarICRA14.mp4 Movie

Control-Limited Differential Dynamic Programming

Y. Tassa, N. Mansard, E. Todorov, ICRA, 2014.
http://www.cs.washington.edu/homes/tassa/papers/icra14.pdf PDF http://www.cs.washington.edu/homes/tassa/media/boxDDP.mp4 Movie

Modeling and Identification of Pneumatic Actuators

Y. Tassa, T. Wu, J. Movellan, E. Todorov, ICMA, 2013.
http://www.cs.washington.edu/homes/tassa/papers/ICRA13.pdf PDF

An integrated system for real-time model-predictive control of humanoid robots

T. Erez, K. Lowrey, Y. Tassa, V. Kumar, S. Kolev, E. Todorov, IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), 2013.
http://homes.cs.washington.edu/~todorov/papers/ErezHumanoids13.pdf PDF http://homes.cs.washington.edu/~todorov/media/ErezHumanoids13.mp4 Movie

Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization

Y. Tassa, T. Erez, E. Todorov, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
http://www.cs.washington.edu/homes/tassa/papers/IROS12.pdf PDF http://www.cs.washington.edu/homes/tassa/media/IROS12a.m4v Movie1 http://www.cs.washington.edu/homes/tassa/media/IROS12b.m4v Movie2

MuJoCo: A physics engine for model-based control

E. Todorov, T. Erez, Y. Tassa, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
http://homes.cs.washington.edu/~todorov/papers/TodorovIROS12.pdf PDF

Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts

T. Erez, Y. Tassa, E. Todorov, Proceedings of Robotics: Science and Systems, 2011.
http://www.cs.washington.edu/homes/tassa/papers/ErezRSS11.pdf PDF http://www.youtube.com/watch?v=kUfmnoobTHQ Movie

High-order local dynamic programming

Y. Tassa, E. Todorov, Adaptive Dynamic Programming And Reinforcement Learning (ADPRL), 2011 IEEE Symposium on, 2011.
http://www.cs.washington.edu/homes/tassa/papers/ADPRL11.pdf PDF http://www.cs.washington.edu/homes/tassa/media/ADPRL11.mp4 Movie

Theory and Implementation of Biomimetic Motor Controllers

Y. Tassa, The Hebrew University of Jerusalem, 2011.
http://www.cs.washington.edu/homes/tassa/papers/dissertation.pdf PDF

Optimal Limit-Cycle Control Recast As Bayesian Inference

Y. Tassa, T. Erez, E. Todorov, Proceedings of the 18th IFAC World Congress, IFAC, Elsevier, 2011.
http://www.cs.washington.edu/homes/tassa/papers/IFAC11.pdf PDF http://www.cs.washington.edu/homes/tassa/media/ifac11.mov Movie

Stochastic Differential Dynamic Programming

E. Theodorou, Y. Tassa, E. Todorov, in the proceedings of american control conference (acc 2010), 2010.
http://www.cs.washington.edu/homes/tassa/papers/ACC10.pdf PDF

Stochastic Complementarity for Local Control of Discontinuous Dynamics

Y. Tassa, E. Todorov, Proceedings of Robotics: Science and Systems (RSS), 2010.
http://www.cs.washington.edu/homes/tassa/papers/RSS10.pdf PDF http://www.cs.washington.edu/homes/tassa/media/RSS10.mov Movie

Iterative local dynamic programming

E. Todorov, Y. Tassa, 2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), IEEE, 2009.
http://www.cs.washington.edu/homes/tassa/papers/ADPRL09.pdf PDF

Receding Horizon Differential Dynamic Programming

Y. Tassa, T. Erez, W. Smart, Advances in Neural Information Processing Systems 20, MIT Press, 2008.
http://www.cs.washington.edu/homes/tassa/papers/NIPS07.pdf PDF http://www.cs.washington.edu/homes/tassa/media/NIPS07a.wmv Movie1 http://www.cs.washington.edu/homes/tassa/media/NIPS07b.wmv Movie2

Least Squares Solutions of the HJB Equation with Neural Network Value-Function Approximators

Y. Tassa, T. Erez, IEEE Transactions on Neural Networks 18:4, 2007.
http://www.cs.washington.edu/homes/tassa/papers/TNN07.pdf PDF