Learning Adaptive Display Exposure for Real-Time Advertising

In E-commerce advertising, where product recommendations and product ads are presented to users simultaneously, the traditional setting is to display ads at fixed positions. However, under such a setting, the advertising system loses the flexibility to control the number and positions of ads, resulting in sub-optimal platform revenue and user experience. Consequently, major e-commerce platforms (e.g., Taobao.com) have begun to consider more flexible ways to display ads. In this paper, we investigate the problem of advertising with adaptive exposure: can we dynamically determine the number and positions of ads for each user visit under certain business constraints so that the platform revenue can be increased? More specifically, we consider two types of constraints: request-level constraint ensures user experience for each user visit, and platform-level constraint controls the overall platform monetization rate. We model this problem as a Constrained Markov Decision Process with per-state constraint (psCMDP) and propose a constrained two-level reinforcement learning approach to decompose the original problem into two relatively independent sub-problems. To accelerate policy learning, we also devise a constrained hindsight experience replay mechanism. Experimental evaluations on industry-scale real-world datasets demonstrate the merits of our approach in both obtaining higher revenue under the constraints and the effectiveness of the constrained hindsight experience replay mechanism.Comment: accepted by CIKM201

Asymmetric Actor Critic for Image-Based Robot Learning

Deep reinforcement learning (RL) has proven a powerful technique in many sequential decision making domains. However, Robotics poses many challenges for RL, most notably training on a physical system can be expensive and dangerous, which has sparked significant interest in learning control policies using a physics simulator. While several recent works have shown promising results in transferring policies trained in simulation to the real world, they often do not fully utilize the advantage of working with a simulator. In this work, we exploit the full state observability in the simulator to train better policies which take as input only partial observations (RGBD images). We do this by employing an actor-critic training algorithm in which the critic is trained on full states while the actor (or policy) gets rendered images as input. We show experimentally on a range of simulated tasks that using these asymmetric inputs significantly improves performance. Finally, we combine this method with domain randomization and show real robot experiments for several tasks like picking, pushing, and moving a block. We achieve this simulation to real world transfer without training on any real world data.Comment: Videos of experiments can be found at http://www.goo.gl/b57WT

Overcoming Exploration in Reinforcement Learning with Demonstrations

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal performance. However, finding a non-zero reward is exponentially more difficult with increasing task horizon or action dimensionality. This puts many real-world tasks out of practical reach of RL methods. In this work, we use demonstrations to overcome the exploration problem and successfully learn to perform long-horizon, multi-step robotics tasks with continuous control such as stacking blocks with a robot arm. Our method, which builds on top of Deep Deterministic Policy Gradients and Hindsight Experience Replay, provides an order of magnitude of speedup over RL on simulated robotics tasks. It is simple to implement and makes only the additional assumption that we can collect a small set of demonstrations. Furthermore, our method is able to solve tasks not solvable by either RL or behavior cloning alone, and often ends up outperforming the demonstrator policy.Comment: 8 pages, ICRA 201