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layout: default
title: Home
---
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<div class="mySlides fade">
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<div class="text">Helena presenting at the department research fair. January 2026.</div>
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<!-- <div class="mySlides fade">
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<div class="about-box">
<h2>About</h2>
<p>In the Interactive and Emergent Autonomy Lab, our research focuses on
computational methods in data-driven control, information theory in
physical systems, and embodied intelligence. We investigate how both
autonomous systems and biological systems interact with their environments
(and, in some cases, with each other) to learn and improve their behaviors.
This work often involves mathematical modeling, development of new
mathematical tools, algorithmic implementation and programming, and
experimentation. </p>
</div>
<br>
<div class="row">
<div class="column4">
<div class="news-box">
<h2><a href="/news" style="color:black">News</a></h2>
<p><b>May 24, 2025</b> <a href="https://robotics.northwestern.edu/news-events/articles/2025/todd-murphey-receives-the-ieee-robotics-and-automation-societys-distinguished-service-award.html" style="color:black">Todd receives the IEEE RAS Distinguished Service Award</a></p>
<p><b>Nov 13, 2024</b> <a href="/2024/11/13/jueun-joining" style="color:black">Jueun Kwon joins the lab</a></p>
<p><b>May 2, 2024</b> <a href="https://www.nature.com/articles/s42256-024-00829-3" style="color:black">New paper accepted to Nature Machine Intelligence</a></p>
<p><b>Feb 15, 2024</b> <a href="https://academic.oup.com/pnasnexus/article/3/2/pgae016/7564677" style="color:black">New paper accepted to PNAS Nexus</a></p>
<p><b>Dec 11, 2023</b> <a href="/2023/12/11/new-lab-member" style="color:black">Zixin Zhang joins the lab</a></p>
<p><b>Sep 30, 2023</b> <a style="color:black">New IROS paper on automatic gait generation for soft quadrupeds</a></p>
<p><b>May 25, 2023</b> <a href="/2023/05/25/ola-thesis-defense" style="color:black">Ola defends Ph.D. thesis</a></p>
<p><b>May 3, 2023</b> <a style="color:black">New review paper on embodied communication out at Annual Review of Control, Robotics, and Autonomous Systems</a></p>
<p><b>Jan 3, 2023</b> <a href="/2023/01/03/ayush-joining" style="color:black">Ayush Gaggar joins the lab</a></p>
<p><b>October 2, 2022</b> <a href="/2022/10/02/ola-cogsci" style="color:black">New emergent communication paper out at Annual Meeting of the Cognitive Science Society</a></p>
<p><b>September 25, 2022</b> <a href="/2022/09/25/muchen-isrr" style="color:black">New point set registration paper out at International Symposium of Robotics Research</a></p>
<p><b>June 20, 2022</b> <a href="/2022/06/20/ahalya-nature-communications" style="color:black">New embodied active learning paper out on Nature Communications</a></p>
<p><b>June 2, 2022</b> <a href="/2022/06/02/allie-hybrid-rl-ijrr" style="color:black">New hybrid reinforcement learning paper out on IJRR</a></p>
<p><b>May 24, 2022</b> <a href="/2022/05/24/tommy-presidential-fellowship" style="color:black">Tommy received 2022 Northwestern University Presidential Fellowship</a></p>
<p><b>January 13, 2022</b> <a href="/2022/01/13/taoshathesisdefense" style="color:black">Taosha defends Ph.D. thesis</a></p>
<p><b>December 23, 2021</b> <a href="/2021/12/23/tommymemristor" style="color:black">New paper on memristor circuits for microrobotics</a></p>
<!-- <p><b>October 7, 2021</b> <a href="/2021/10/07/toddnatureperspective" style="color:black">New Nature paper on mechanical computing</a></p> -->
<!-- <p><b>September 21, 2021</b> <a href="/2021/09/21/new-lab-member" style="color:black">Jonathan Bosnich joins the lab</a></p> -->
<!-- <p><b>September 16, 2021</b> <a href="/2021/09/16/anathesisdefense" style="color:black">Ana defends Ph.D. thesis</a></p>
<p><b>Angust 10, 2021</b> <a href="/2021/08/10/annalisareview" style="color:black">New review paper on active learning in robotics</a></p> -->
<!-- <p><b>May 10, 2021</b> <a href="/2021/05/10/taoshaiccv" style="color:black">Human pose tracking paper accepted to ICCV</a></p> -->
<!-- <p><b>May 10, 2021</b> <a href="/2021/05/10/muchenrss" style="color:black">Social navigation paper accepted to RSS</a></p> -->
<!-- <p><b>May 7, 2021</b> <a href="/2021/05/07/giorgosthesisdefense" style="color:black">Giorgos defends Ph.D. thesis</a></p> -->
<!-- <p><b>April 24, 2021</b> <a href="/2021/04/24/giorgostro.html" style="color:black">Giorgos's work on derivative-based Koopman operators gets accepted to IEEE T-RO</a></p> -->
<!-- <p><b>March 26, 2021</b> <a href="/2021/03/26/icrawithuiuc.html" style="color:black">Paper on Autotuning MPC</a> and <a href="/2021/03/26/olaahalyakatiepublishaticra.html" style="color:black"> ergodic imitation</a> both get accepted to ICRA 2021</p> -->
<!-- <p><b>February 22, 2021</b> <a href="/2021/02/22/rabdefense.html" style="color:black">Rab defends her PhD thesis</a></p> -->
<!-- <p><b>January 01, 2021</b> <a href="/2021/01/01/murpheylabinsciencepaper.html" style="color:black">Tommy and Alex part of <i>Low rattling: A predictive principle for self-organization in active collectives</i> paper in Science</a></p> -->
<!-- <p><b>November 20, 2020</b> <a href="/2020/11/20/toddresponsibleAIpanel.html" style="color:black">Todd participates in panel on responsibility in AI</a></p> -->
<!-- <p><b>November 11, 2020</b> <a href="/2020/11/11/katiedefendsthesis.html" style="color:black">Katie defends PhD thesis and starts job at Penn State</a></p> -->
<!-- <p><b>October 01, 2020</b> <a href="/2020/10/01/muchenjoinslab.html" style="color:black">Muchen Sun joins the IEA Lab</a></p> -->
<!-- <p><b>September 25, 2020</b> <a href="/2020/09/25/NeurIPS.html" style="color:black">Giorgos publishes paper in NeurIPS 2020</a></p>
<p><b>September 22, 2020</b> <a href="/2020/09/22/elife-paper.html" style="color:black">Paper on animal exploration with Chen Chen and Malcolm MacIver comes out in eLife</a></p> -->
<!-- <p><b>September 4, 2020</b> <a href="/2020/09/04/tommy-masters-thesis-and-phd-prospectus.html" style="color:black">Tommy defends Masters thesis and completes PhD Prospectus</a></p>
<p><b>September 2, 2020</b> <a href="/2020/09/02/milli-phd-prospectus.html" style="color:black">Milli completes PhD Prospectus</a></p>
<p><b>August 24, 2020</b> <a href="/2020/08/24/ahalyadefense.html" style="color:black">Ahalya defends PhD thesis</a></p>
<p><b>July 31, 2020</b> <a href="/2020/07/31/ijrrarticles.html" style="color:black">IJRR articles come out</a></p>
<p><b>July 29, 2020</b> <a href="/2020/07/29/iandefense.html" style="color:black">Ian defends PhD thesis</a></p>
<p><b>April 30, 2020</b> <a href="/2020/04/30/ola-wins-ppc.html" style="color:black">Ola Wins Proposal Pitch Competition</a></p>
<p><b>April 24, 2020</b> <a href="/2020/04/24/joelwinsndseg.html" style="color:black">Joel Awarded NDSEG Fellowship</a></p>
<p><b>April 01, 2020</b> <a href="/2020/04/01/darpasprint5.html" style="color:black">Lab gets DARPA OFFSET Sprint 5 award</a></p>
<p><b>March 30, 2020</b> <a href="/2020/03/30/katwinsnsfgrf.html" style="color:black">Katarina Awarded NSF Graduate Research Fellowship</a></p>
<p><b>March 25, 2020</b> <a href="/2020/03/25/ian-best-paper.html" style="color:black">Ian Wins 2019 T-RO Best Paper Award</a></p>
<p><b>November 7, 2019</b> <a href="/2019/11/07/new-lab-member.html" style="color:black">New Lab Member</a></p>
<p><b>November 7, 2019</b> <a href="/2019/11/07/taosha-best-paper.html" style="color:black">Taosha Wins Best Paper at IROS 2019</a></p>
<p><b>September 18, 2019</b> <a href="/2019/09/18/smarticle.html" style="color:black">"A robot made of robots..." published in Science Robotics</a></p>
<p><b>August 22, 2019</b> <a href="/2019/08/22/muri-kickoff.html" style="color:black">MURI Meeting on Algorithmic Matter and Emergent Behavior</a></p>
<p><b>June 22, 2019</b> <a href="/2019/06/22/giorgos-rss.html" style="color:black">Giorgos presents at RSS</a></p>
<p><b>May 20, 2019</b> <a href="/2019/05/20/darpa.html" style="color:black">DARPA award recieved</a></p>
<p><b>April 17, 2019</b> <a href="/2019/04/17/scirob.html" style="color:black">"Ergodicity reveals assistance and learning..." published in Science Robotics</a></p> -->
<!-- <p><b>April 12, 2019</b> <a href="/2019/04/12/muriawarded.html" style="color:black">MURI award</a></p> -->
<!-- <p><b>April 10, 2019</b> <a href="/2019/04/10/afsab.html" style="color:black">Todd Murphey appointed to Air Force Scientific Advisory Board</a></p> -->
<!-- <p><b>January 9, 2019</b> <a href="/2019/01/09/ola-masters-thesis-and-phd-prospectus.html" style="color:black">Ola's Masters Thesis Defense and PhD Prospectus</a></p>
<p><b>December 9, 2018</b> <a href="/2018/12/09/ian-taosha-ana-wafr.html" style="color:black">Ian, Taosha, and Ana present at WAFR</a></p>
<p><b>September 27, 2018</b> <a href="/2018/09/27/new-lab-members.html" style="color:black">New Lab Members</a></p> -->
</div>
</div>
<div class="column5">
<div class="recentpapers-box">
<h2><a href="/publications" style="color:black">Recent Papers</a></h2>
<p><b>Real-Time Reinforcement Learning for Dynamic Tasks with a Parallel Soft Robot</b>
<br>J. Avtges, J. Ketchum, M. Schlafly, H. Young, T. Kim, A. Pinosky, R. L. Truby, T. D. Murphey
<br><i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, 2025. <a href="https://ieeexplore.ieee.org/abstract/document/11246440">PDF</a></p>
<p><b>Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates</b>
<br>Z. Zhang, J. Avtges, T. D. Murphey
<br><i>Conference on Robot Learning (CoRL)</i>, 2025. <a href="https://proceedings.mlr.press/v305/zhang25d.html">PDF</a></p>
<p><b>Flow Matching Ergodic Coverage</b>
<br>M. M. Sun, A. Pinosky, T. D. Murphey
<br><i>Robotics: Science and Systems (RSS)</i>, 2025. <a href="https://arxiv.org/abs/2504.17872">PDF</a></p>
<p><b>Data Augmentation for NeRFs in the Low Data Limit</b>
<br>A. Gaggar, T. D. Murphey
<br><i>IEEE International Conference on Robotics and Automation (ICRA)</i>, 2025. <a href="https://arxiv.org/abs/2503.02092">PDF</a></p>
<p><b>Inverse Mixed Strategy Games with Generative Trajectory Models</b>
<br>M. M. Sun, P. Trautman, T. D. Murphey
<br><i>IEEE International Conference on Robotics and Automation (ICRA)</i>, 2025. <a href="https://arxiv.org/abs/2502.03356">PDF</a></p>
<p><b>Embodied Active Learning of Generative Sensor-Object Models</b>
<br>A. Pinosky, T. D. Murphey
<br><i>International Symposium of Robotics Research (ISRR)</i>, 2024. <a href="https://arxiv.org/abs/2410.11130">PDF</a></p>
<p><b>Maximum diffusion reinforcement learning</b>
<br>T. A. Berrueta, A. Pinosky, T. D. Murphey
<br><i>Nature Machine Intelligence (6, 504–514)</i>, 2024. <a href="https://www.nature.com/articles/s42256-024-00829-3">PDF</a></p>
<!-- <p><b>Safe Coverage for Heterogeneous Systems With Limited Connectivity</b>
<br>A. T. Taylor, T. A. Berrueta, A. Pinosky, T. D. Murphey
<br><i>IEEE Robotics and Automation Letters (Volume 9, Issue 10)</i>, 2024. <a href="https://ieeexplore.ieee.org/abstract/document/10669222">PDF</a></p> -->
<!-- <p><b>Active Exploration for Real-Time Haptic Training</b>
<br>J. Ketchum, A. Prabhakar, T. D. Murphey
<br><i>IEEE International Conference on Robotics and Automation (ICRA)</i>, 2024. <a href="https://ieeexplore.ieee.org/document/10610782">PDF</a></p> -->
<!-- <p><b>Collaborative Robots Can Augment Human Cognition in Regret-Sensitive Tasks</b>
<br>M. Schlafly, A. Prabhakar, K. Popovic, G. Schlafly, C. Kim, T. D. Murphey
<br><i>PNAS Nexus (Volume 3, Issue 2)</i>, 2024. <a href="https://academic.oup.com/pnasnexus/article/3/2/pgae016/7564677">PDF</a></p> -->
<!-- <p><b>Automated Gait Generation For Walking, Soft Robotic Quadrupeds</b>
<br>J. Ketchum, S. Schiffer, M. Sun, P. Kaarthik, R. L. Truby, T. D. Murphey
<br><i>IEEE International Conference on Intelligent Robots and Systems (IROS)</i>, 2023. <a href="https://arxiv.org/abs/2310.00498">PDF</a></p> -->
<!-- <p><b>Embodied Communication: How Robots and People Communicate Through Physical Interaction</b>
<br>A. Kalinowska, P. M. Pilarski, T. D. Murphey
<br><i>Annual Review of Control, Robotics, and Autonomous Systems, 2023</i>. <a href="https://www.annualreviews.org/doi/full/10.1146/annurev-control-070122-102501">PDF</a></p> -->
<!-- <p><b>Scale-Invariant Specifications for Human-Swarm Systems</b>
<br>J. Meyer, A. Prabhakar, A. Pinosky, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey
<br><i></i>Journal of Field Robotics (JFR), 2022. <a href="/pdfs/2022JFRMePrMu.pdf">PDF</a></p> -->
<!-- <p><b>A Game Benchmark for Real-Time Human-Swarm Control</b>
<br>J. Meyer, A. Pinosky, T. Trzpit, E. Colgate, T. D. Murphey
<br><i></i>IEEE International Conference on Automation Science and Engineering (CASE), 2022. <a href="/pdfs/2022CASEMePiTrCoMu.pdf">PDF</a></p> -->
<!-- <p><b>Towards situated communication in multi-step interactions: Time is a key pressure in communication emergence</b>
<br>A. Kalinowska, E. Davoodi, K. W. Mathewson, T. D. Murphey, P. Pilarski
<br><i>Annual Meeting of the Cognitive Science Society (CogSci)</i>, 2022. <a href="../pdfs/2022CogSciKaDaMaMuPi.pdf">PDF</a></p> -->
<!-- <p><b>Scale-Invariant Fast Functional Registration</b>
<br>M. Sun, A. Pinosky, I. Abraham, T. D. Murphey
<br><i>International Symposium of Robotics Research (ISRR)</i>, 2022. <a href="https://arxiv.org/pdf/2209.12763.pdf">PDF</a>, <a href="https://github.com/MurpheyLab/FLS">Code</a></p> -->
<!-- <p><b>Mechanical Intelligence For Learning Embodied Sensor-Object Relationships</b>
<br>A. Prabhakar, T. D. Murphey
<br><i>Nature Communications, 2022</i>. <a href="https://www.nature.com/articles/s41467-022-31795-2">PDF</a>, <a href="https://github.com/apr600/mechanical-intelligence">Code</a></p> -->
<!-- <p><b>Hybrid Control for Combining Model-Based and Model-Free Reinforcement Learning</b>
<br>A. Pinosky, I. Abraham, A. Broad, B. Argall, T. D. Murphey
<br><i>International Journal of Robotics Research (IJRR), 2022</i>. <a href="https://journals.sagepub.com/doi/pdf/10.1177/02783649221083331">PDF</a>, <a href="https://github.com/MurpheyLab/HybridLearning">Code</a></p> -->
<!-- <p><b>Memristor Circuits for Colloidal Robotics: Temporal Access to Memory, Sensing, and Actuation</b>
<br>J. F. Yang, A. T. Liu, T. A. Berrueta, G. Zhang, A. M. Brooks, V. B. Koman, S. Yang, X. Gong, T. D. Murphey, M. S. Strano
<br><i>Advanced Inetlligent Systems</i>, 2021. <a href="https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202100205">PDF</a></p> -->
<!-- <p><b>Mechanical computing</b>
<br>H. Yasuda, P. R. Buskohl, A. Gillman, T. D. Murphey, S. Stepney, R. A. Vaia, and J. R. Raney
<br><i>Nature</i>, 2021. <a href="https://www.nature.com/articles/s41586-021-03623-y">Article</a></p> -->
<!-- <p><b>Active learning in robotics: A review of control principles</b>
<br>A. T. Taylor, T. A. Berrueta, and T. D. Murphey
<br><i>Mechatronics</i>, 2021. <a href="https://arxiv.org/pdf/2106.13697.pdf">PDF</a></p> -->
<!-- <p><b>Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation</b> -->
<!-- <br>T. Fan, K. V. Alwala, D. Xiang, W. Xiang, T. D. Murphey, and M. Mukadam -->
<!-- <br><i>IEEE Int. Conf. on Computer Vision (ICCV)</i>, 2021. <a href="/pdfs/2021ICCVFaMuMu.pdf">PDF</a></p> -->
<!-- <p><b>Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation</b> -->
<!-- <br>M. Sun, F. Baldini, P. Trautman, T. D. Murphey -->
<!-- <br><i>Robotics: Science and Systems (RSS)</i>, 2021. <a href="http://www.roboticsproceedings.org/rss17/p053.pdf">PDF</a>, <a href="https://www.youtube.com/watch?v=dpJUbM0IPJs">Video</a>, <a href="https://github.com/MurpheyLab/DistNav">Code</a> -->
<!-- <p><b>Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems</b> -->
<!-- <br>G. Mamakoukas, M. Castano, X. Tan, T. D. Murphey -->
<!-- <br><i>IEEE Transactions on Robotics (TRO)</i>, 2021. <a href="https://arxiv.org/abs/2010.05778">Article</a></p> -->
<!-- <p><b>Automatic Tuning for Data-driven Model Predictive Control</b>
<br>W. Edwards, G. Tang, G. Mamakoukas, T. D. Murphey, K. Hauser
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, 2021. <a href="https://motion.cs.illinois.edu/papers/ICRA2021_Edwards_AutoMPC.pdf">Article</a></p>
<p><b>Ergodic imitation: Learning from what to do and what not to do</b>
<br>A. Kalinowska, A. Prabhakar, K. Fitzsimons, T. D. Murphey
<br><i>IEEE Int. Conf. on Robotics and Automation (ICRA)</i>, 2021. <a href="/pdfs/2021ICRAKaPrFiMu.pdf">PDF</a></p>
<p><b>Low Rattling: A Predictive Principle for Self-Organization in Active Collectives </b>
<br>P. Chvykov, T. A. Berrueta, A. Vardhan, W. Savoie, A. Samland, T. D. Murphey, K. Wiesenfeld, D. I. Goldman, and J. L. England
<br><i>Science</i>, vol. 371, no. 6524, 2021. <a href="https://science.sciencemag.org/content/371/6524/90">Article</a></p>
<p><b>Algorithmic Design for Embodied Intelligence in Synthetic Cells</b>
<br>A. Pervan and T. D. Murphey
<br><i>IEEE Transactions on Automation Science and Engineering (T-ASE)</i>, 2020. <a href="/pdfs/2020TASEPeMu.pdf">PDF</a></p> -->
<!-- <p><b>Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation</b>
<br>A. Prabhakar, I. Abraham, A. Taylor, M. Schlafly, K. Popovic, G. Diniz, B. Teich, B. Simidchieva, S. Clark, T. D. Murphey
<br><i>Robotics Science and Systems</i>, 2020. <a href="/pdfs/2020RSSPrAbTaScPoMu.pdf">PDF</a> <a href="https://sites.google.com/view/ergodic-flexible-swarm-control">Video</a></p>
<p><b>Tuning movement for sensing in an uncertain world</b>
<br>C. Chen, T. D Murphey, M. A MacIver
<br><i>eLife</i>, e52371, 2020. <a href="https://elifesciences.org/articles/52371">Article</a></p> -->
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