Tyler Westenbroek

37 papers A* 3Misc 3Journal 18Unranked 13

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning. CoRR Patrick Yin, Tyler Westenbroek, Zhengyu Zhang, Joshua Tran, Ignacio Dagnino, Eeshani Shilamkar, Numfor Mbiziwo-Tiapo, Simran Bagaria, Xinlei Liu, Galen Mullins, Andrey Kolobov, Abhishek Gupta
2026	J	`jnl`	RFS: Reinforcement Learning with Residual Flow Steering for Dexterous Manipulation. CoRR Entong Su, Tyler Westenbroek, Anusha Nagabandi, Abhishek Gupta
2026	J	`jnl`	Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation. CoRR Jacob Levy, Tyler Westenbroek, Kevin Huang, Fernando Palafox, Patrick Yin, Shayegan Omidshafiei, Dong-Ki Kim, Abhishek Gupta, David Fridovich-Keil
2025	—	`conf`	Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations. L4DC Cevahir Köprülü, Po-han Li, Tianyu Qiu, Ruihan Zhao, Tyler Westenbroek, David Fridovich-Keil, Sandeep Chinchali, Ufuk Topcu
2025	J	`jnl`	Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning. CoRR Patrick Yin, Tyler Westenbroek, Simran Bagaria, Kevin Huang, Ching-An Cheng, Andrey Kobolov, Abhishek Gupta
2025	A*	`conf`	Rapidly Adapting Policies to the Real-World via Simulation-Guided Fine-Tuning. ICLR Patrick Yin, Tyler Westenbroek, Ching-An Cheng, Andrey Kolobov, Abhishek Gupta
2024	J	`jnl`	Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations. CoRR Cevahir Köprülü, Po-han Li, Tianyu Qiu, Ruihan Zhao, Tyler Westenbroek, David Fridovich-Keil, Sandeep Chinchali, Ufuk Topcu
2024	Misc	`conf`	Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models. CoRL Jacob Levy, Tyler Westenbroek, David Fridovich-Keil
2024	J	`jnl`	Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models. CoRR Jacob Levy, Tyler Westenbroek, David Fridovich-Keil
2023	Misc	`conf`	Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based Models. CoRL Tyler Westenbroek, Jacob Levy, David Fridovich-Keil
2023	J	`jnl`	Feedback is All You Need: Real-World Reinforcement Learning with Approximate Physics-Based Models. CoRR Tyler Westenbroek, Jacob Levy, David Fridovich-Keil
2023	A*	`conf`	The Power of Learned Locally Linear Models for Nonlinear Policy Optimization. ICML Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek, Nikolai Matni, Stephen Tu
2023	J	`jnl`	The Power of Learned Locally Linear Models for Nonlinear Policy Optimization. CoRR Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek, Nikolai Matni, Stephen Tu
2022	Misc	`conf`	Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRL Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
2022	J	`jnl`	Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning. CoRR Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath
2022	—	`conf`	On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control. CDC Tyler Westenbroek, Anand Siththaranjan, Mohsin Sarwari, Claire J. Tomlin, S. Shankar Sastry
2022	J	`jnl`	On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control. CoRR Tyler Westenbroek, Anand Siththaranjan, Mohsin Sarwari, Claire J. Tomlin, Shankar S. Sastry
2021	—	`conf`	Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers. ADHS Tyler Westenbroek, Ayush Agrawal, Fernando Castañeda, S. Shankar Sastry, Koushil Sreenath
2021	—	`conf`	On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective. CDC Tyler Westenbroek, Max Simchowitz, Michael I. Jordan, S. Shankar Sastry
2021	J	`jnl`	On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective. CoRR Tyler Westenbroek, Max Simchowitz, Michael I. Jordan, S. Shankar Sastry
2021	—	`conf`	Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. ADHS Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames
2020	—	`conf`	Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning. CDC Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil, Valmik Prabhu, Claire J. Tomlin, S. Shankar Sastry
2020	J	`jnl`	Competitive Statistical Estimation With Strategic Data Sources. IEEE Trans. Autom. Control. Tyler Westenbroek, Roy Dong, Lillian J. Ratliff, S. Shankar Sastry
2020	A*	`conf`	Feedback Linearization for Uncertain Systems via Reinforcement Learning. ICRA Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar, Shreyas Arora, Valmik Prabhu, S. Shankar Sastry, Claire J. Tomlin
2020	—	`conf`	High Confidence Sets for Trajectories of Stochastic Time-Varying Nonlinear Systems. CDC Eric Mazumdar, Tyler Westenbroek, Michael I. Jordan, S. Shankar Sastry
2020	—	`conf`	Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. L4DC Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire J. Tomlin, Koushil Sreenath
2020	J	`jnl`	Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. CoRR Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, S. Shankar Sastry, Claire J. Tomlin, Koushil Sreenath
2020	—	`conf`	Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CDC Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath
2020	J	`jnl`	Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. CoRR Tyler Westenbroek, Fernando Castañeda, Ayush Agrawal, S. Shankar Sastry, Koushil Sreenath
2020	J	`jnl`	Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning. CoRR Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil, Valmik Prabhu, Claire J. Tomlin, S. Shankar Sastry
2019	J	`jnl`	Competitive Statistical Estimation with Strategic Data Sources. CoRR Tyler Westenbroek, Roy Dong, Lillian J. Ratliff, S. Shankar Sastry
2019	J	`jnl`	Feedback Linearization for Unknown Systems via Reinforcement Learning. CoRR Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar, Shreyas Arora, Valmik Prabhu, S. Shankar Sastry, Claire J. Tomlin
2019	—	`conf`	Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. CDC Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry
2018	—	`conf`	A New Solution Concept and Family of Relaxations for Hybrid Dynamical Systems. CDC Tyler Westenbroek, Humberto González, S. Shankar Sastry
2017	J	`jnl`	Statistical Estimation with Strategic Data Sources in Competitive Settings. CoRR Tyler Westenbroek, Roy Dong, Lillian J. Ratliff, S. Shankar Sastry
2017	—	`conf`	Statistical estimation with strategic data sources in competitive settings. CDC Tyler Westenbroek, Roy Dong, Lillian J. Ratliff, S. Shankar Sastry
2016	—	`conf`	Wireless Routing and Control: A Cyber-Physical Case Study. ICCPS Bo Li, Yehan Ma, Tyler Westenbroek, Chengjie Wu, Humberto González, Chenyang Lu