In many applications, learning systems are required to process continuous non-stationary data streams.

Motivated by alternating game-play in two-player games, we study an altenating variant of the \textit{Online Linear Optimization} (OLO).

In this paper, we analyze the numerics of common algorithms for training Generative Adversarial Networks (GANs).

For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus on the problem of synthesizing grasps for multi-finger robot hands that, given a target object's geometry and pose, computes a hand configuration. Existing approaches often struggle to produce reliable grasps that sufficiently constrain object motion, leading to instability under disturbances and failed grasps. A key reason is that during grasp generation, they typically focus on resisting a single wrench, while ignoring the object's potential for adversarial movements, such as escaping. We propose a new grasp-synthesis approach that explicitly captures and leverages the adversarial object motion in grasp generation by formulating the problem as a two-player game. One player controls the robot to generate feasible grasp configurations, while the other adversarially controls the object to seek motions that attempt to escape from the grasp. Simulation experiments on various robot platforms and target objects show that our approach achieves a success rate of 75.78%, up to 19.61% higher than the state-of-the-art baseline. The two-player game mechanism improves the grasping success rate by 27.40% over the method without the game formulation. Our approach requires only 0.28-1.04 seconds on average to generate a grasp configuration, depending on the robot platform, making it suitable for real-world deployment. In real-world experiments, our approach achieves an average success rate of 85.0% on ShadowHand and 87.5% on LeapHand, which confirms its feasibility and effectiveness in real robot setups.

We consider the problem of constructing probabilistic predictions that lead to accurate decisions when employed by downstream users to inform actions. For a single decision maker, designing an optimal predictor is equivalent to minimizing a proper loss function corresponding to the negative utility of that individual. For multiple decision makers, our problem can be viewed as a variant of omniprediction in which the goal is to design a single predictor that simultaneously minimizes multiple losses. Existing algorithms for achieving omniprediction broadly fall into two categories: 1) boosting methods that optimize other auxiliary targets such as multicalibration and obtain omniprediction as a corollary, and 2) adversarial two-player game based approaches that estimate and respond to the ``worst-case" loss in an online fashion. We give lower bounds demonstrating that multicalibration is a strictly more difficult problem than omniprediction and thus the former approach must incur suboptimal sample complexity. For the latter approach, we discuss how these ideas can be used to obtain a sample-efficient algorithm through an online-to-batch conversion. This conversion has the downside of returning a complex, randomized predictor. We improve on this method by designing a more direct, unrandomized algorithm that exploits structural elements of the set of proper losses.

A vast body of literature in computational game theory has focused on computing Nash equilibria (NEs) in two-player zero-sum imperfect-information extensive-form games.