Robotics paper index
Optimal and Efficient Online Inverse Optimization
One-line summary
A robotics research paper on Optimal and Efficient Online Inverse Optimization.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
In online inverse linear optimization, a learner recommends an action and then observes the choice of an expert who maximizes a fixed, unknown linear objective on $\mathbb{R}^{d}$; the goal is to learn to optimize this objective without observing it. Sakaue recently obtained the optimal regret $O(\sqrt d)$ with a randomized algorithm making $(dT)^{O(d)}$ linear optimizations per round, and asked whether it can be attained in polynomial time. We answer positively: our deterministic algorithm has regret $O(\sqrt d)$ for every horizon $T$ and runs in time polynomial in $d$ and $T$. It is a variant of the variable-metric algorithms of Sakaue et al.\ and Cai et al., in which a metric update is revoked once the query point moves far enough from where the update was made.
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