Publications

Google scholar profile

Smooth Model Predictive Control with Applications to Statistical Learning
Kwangjun Ahn, Daniel Pfrommer, Jack Umenberger, Tobia Marcucci, Zak Mhammedi, Ali Jadbabaie. 2023.
[arXiv]

Globally Convergent Policy Search for Output Estimation
Jack Umenberger, Max Simchowitz, Juan C. Perdomo, Kaiqing Zhang, Russ Tedrake. NeurIPS, 2022.
[OpenReview] [arXiv]

Shortest paths in graphs of convex sets
Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, Russ Tedrake. 2021.
[arXiv]

Stabilizing Dynamical Systems via Policy Gradient Methods
Juan C. Perdomo, Jack Umenberger, Max Simchowitz. 2021.
[NeurIPS]

Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations
Tao Pang, Jack Umenberger, Russ Tedrake. ICRA, 2021.
[pdf]

Closed-loop data-enabled predictive control
Jack Umenberger. ACC, 2021.
[pdf] [code]

Optimistic robust linear quadratic dual control
Jack Umenberger, Thomas B. Schön. L4DC, 2020.
[arXiv]

Robust exploration in linear quadratic reinforcement learning
Jack Umenberger, Mina Ferizbegovic, Thomas B. Schön, Håkan Hjalmarsson. NeurIPS, 2019.
[neurips] [arXiv] [poster] [code]

Distributed identification of contracting and monotone network dynamics
Max Revay, Jack Umenberger, Ian R. Manchester. 2019.
[arXiv]

On the smoothness of nonlinear system identification
Antônio H. Ribeiro, Koen Tiels, Jack Umenberger, Thomas B. Schön and Luis A. Aguirre. 2019.
[arXiv]

Bayesian identification of state-space models via adaptive thermostats
Jack Umenberger, Thomas B. Schön, Fredrik Lindsten. IEEE CDC, 2019.
[pdf]

Learning robust LQ-controllers using application oriented exploration
Mina Ferizbegovic, Jack Umenberger, Håkan Hjalmarsson, Thomas B. Schön. IEEE CSL/CDC, 2019.
[IEEE] [pdf]

Nonlinear input design as optimal control of a Hamiltonian system
Jack Umenberger, Thomas B. Schön. IEEE CSL/CDC, 2019. [IEEE]
[arXiv] [code]

Inverse Quadratic Optimal Control for Discrete-Time Linear Systems
Han Zhang, Jack Umenberger, Xiaoming Hu. Automatica, 2018.
[arXiv]

Convex Bounds for Equation Error in Stable Nonlinear Identification
Jack Umenberger, Ian R. Manchester. IEEE CSL/CDC, 2018.
[IEEE] [pdf] [bib] [code]

Learning convex bounds for linear quadratic control policy synthesis
Jack Umenberger, Thomas B. Schön. NeurIPS/NIPS 2018.
[arXiv] [bib] [poster] [video]

Specialized Interior Point Algorithm for Stable Nonlinear System Identification
Jack Umenberger, Ian R. Manchester. IEEE TAC 2018.
[IEEE] [arXiv] [bib] [code]

Maximum likelihood identification of stable linear dynamical systems
Jack Umenberger, Johan Wågberg, Ian R. Manchester, Thomas B. Schön. Automatica, 2018.
[ScienceDirect] [pdf] [bib]

Identification of externally positive systems
Christian Grussler, Jack Umenberger, Ian R. Manchester. CDC, 2017.
[IEEE] [pdf] [bib]

Convex identification of stable dynamical systems
Jack Umenberger. PhD thesis, 2017.
[pdf] [bib]

Scalable identification of stable positive systems
Jack Umenberger, Ian R. Manchester. CDC, 2016.
[IEEE] [pdf] [bib]

Specialized algorithm for identification of stable linear systems using Lagrangian relaxation
Jack Umenberger, Ian R. Manchester. ACC, 2016.
[IEEE] [pdf] [bib]

On identification via EM with latent disturbances and Lagrangian relaxation
Jack Umenberger, Johan Wågberg, Ian R. Manchester, Thomas B. Schön. SYSID, 2015.
[ScienceDirect] [pdf] [bib]

Real-time planning with primitives for dynamic walking over uneven terrain
Ian R. Manchester, Jack Umenberger. ICRA, 2014.
[IEEE] [bib]

System identification and control of a small-scale paramotor
Jack Umenberger, Ali H. Göktogan. ICRA, 2013.
[IEEE] [bib]