7 citations · 10 across the 4 of their papers we have counts for
4 papers
The Power of Learned Locally Linear Models for Nonlinear Policy Optimization
Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek +2
A common pipeline in learning-based control is to iteratively estimate a model of system dynamics, and apply a trajectory optimization algorithm - e.g.~ - on the lea…
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…