Avatars Grow Legs: Generating Smooth Human Motion from Sparse Tracking Inputs with Diffusion Model
Yuming Du, Robin Kips, Albert Pumarola, Sebastian Starke, Ali Thabet, Artsiom Sanakoyeu
International Conference on Machine Learning (ICML)
We study the exploration-exploitation dilemma in the linear quadratic regulator (LQR) setting. Inspired by the extended value iteration algorithm used in optimistic algorithms for finite MDPs, we propose to relax the optimistic optimization of OFU-LQ and cast it into a constrained extended LQR problem, where an additional control variable implicitly selects the system dynamics within a confidence interval. We then move to the corresponding Lagrangian formulation for which we prove strong duality. As a result, we show that an ∊-optimistic controller can be computed efficiently by solving at most O(log(1/∊)) Riccati equations. Finally, we prove that relaxing the original OFU problem does not impact the learning performance, thus recovering the Õ(√T) regret of OFU-LQ. To the best of our knowledge, this is the first computationally efficient confidencebased algorithm for LQR with worst-case optimal regret guarantees.
Yuming Du, Robin Kips, Albert Pumarola, Sebastian Starke, Ali Thabet, Artsiom Sanakoyeu
Bilge Acun, Benjamin Lee, Fiodar Kazhamiaka, Kiwan Maeng, Manoj Chakkaravarthy, Udit Gupta, David Brooks, Carole-Jean Wu
Ilkan Esiyok, Pascal Berrang, Katriel Cohn-Gordon, Robert Künnemann