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AAAI 2026

January 23, 2026

Singapore, Singapore

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In this paper, we establish non-asymptotic central limit theorems for linear two-timescale stochastic approximation (TTSA) algorithms driven by martingale difference or Markov noise. Focusing on both the last iterate and Polyak–Ruppert averaging regimes, we derive bounds for normal approximation in terms of the convex distance between probability distributions. Our analysis reveals a non-trivial interaction between the fast and slow timescales: the CLT convergence rate for the last iterate improves as the timescale separation increases, while it decreases in the Polyak–Ruppert averaged setting. We also provide the high-order moment bounds for the error of linear TTSA algorithm, which may be of independent interest.

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