10 citations · 27 across the 8 of their papers we have counts for
9 papers
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
Recent advances in the reinforcement learning (RL) literature have enabled roboticists to automatically train complex policies in simulated environments. However, due to the poor s…
Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning
Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil +3
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient para…
Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations
Tyler Westenbroek, Xiaobin Xiong, Aaron D Ames +1
This paper investigates optimal control problems formulated over a class of piecewise-smooth vector fields. Instead of optimizing over the discontinuous system directly, we instead…
Reach-Avoid Problems with Time-Varying Dynamics, Targets and Constraints
Jaime F. Fisac, Mo Chen, Claire J. Tomlin +1
We consider a reach-avoid differential game, in which one of the players aims to steer the system into a target set without violating a set of state constraints, while the other pl…
Rapid Integration and Calibration of New Sensors Using the Berkeley Aachen Robotics Toolkit (BART)
Jan O. Biermeyer, Todd R. Templeton, Christian Berger +4
After the three DARPA Grand Challenge contests many groups around the world have continued to actively research and work toward an autonomous vehicle capable of accomplishing a mis…
Effects of Risk on Privacy Contracts for Demand-Side Management
Lillian J. Ratliff, Carlos Barreto, Roy Dong +3
As smart meters continue to be deployed around the world collecting unprecedented levels of fine-grained data about consumers, we need to find mechanisms that are fair to both, (1)…