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The Jersey City native will play Andre, the ex-husband of Shirley Bennett - a recently divorced mother attending college for the first time.
According to Entertainment Weekly magazine, Warner began work this week on the single-camera show that also stars Joel McHale, Donald Glover and Chevy Chase.
Ironically Shirley is played by actress Yvette Nicole Brown, who is best friends with 'View' co-host Sherri Shepherd. Warner portrayed Shepherd's cheating ex-husband on her eponymous Lifetime network sitcom last year.
Playing Theo Huxtable, the sole son of Bill Cosby's Heathcliff Huxtable for eight years on 'The Cosby Show,' paved a great way for Warner on television. His other TV credits include 'Malolm & Eddie,' 'Dexter' and 'The Cleaner.'