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Tomáš Votroubek

Publications and source records attributed to Tomáš Votroubek.

3 recordsLinked to original sources

STON'R Converges to First-Order Nash~Equilibria of Multiplayer Games

Nonconcave games present a unique challenge, as neither pure Nash equilibria nor local Nash equilibria (LNE) are guaranteed to exist, even in zero-sum settings. Additionally, computing approximate LNE in smooth multiplayer games over bounded regions is PPAD-hard. These challenges, coupled with the inherent complexity, have driven recent research toward broader equilibrium concepts, such as min-max critical points, and first-order Nash equilibria (FONE), which correspond to solutions of specific non-monotone variational inequalities. This paper addresses general-sum multiplayer games with compact convex strategy sets and smooth, nonconcave utility functions. Daskalakis et al. introduced the STON'R algorithm for solving variational inequality problems and established convergence under smoothness assumptions. They further showed that the algorithm's limit points correspond to equilibria in specific classes of games, namely local minimax equilibria in two-player zero-sum games and Nash equilibria in smooth concave games. In this work, we extend the convergence result to multiplayer general-sum games and show that the variational inequality solutions targeted by STON'R correspond to first-order Nash equilibria (FONE), a general game-theoretic solution concept that unifies these previously studied cases. We demonstrate the effectiveness and robustness of the algorithm on various examples from recent literature.

cs.GT↗

Globally Optimal Inverse Kinematics as a Quadratic Program

We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant manipulators. We demonstrate the performance on randomly generated designs and on real-world robots with up to ten revolute joints. The same technique can be used for manipulator design by introducing kinematic parameters as variables.

cs.RO↗

Values of Games for Information Decomposition

The information decomposition problem requires an additive decomposition of the mutual information between the input and target variables into nonnegative terms. The recently introduced solution to this problem, Information Attribution, involves the Shapley-style value measuring the influence of predictors in the coalitional game associated with the joint probability distribution of the input random vector and the target variable. Motivated by the original problem, we consider a general setting of coalitional games where the players form a boolean algebra, and the coalitions are the corresponding down-sets. This enables us to study in detail various single-valued solution concepts, called values. Namely, we focus on the classes of values that can represent very general alternatives to the solution of the information decomposition problem, such as random-order values or sharing values. We extend the axiomatic characterization of some classes of values that were known only for the standard coalitional games.

cs.IT↗