Learning optimization models in the presence of unknown relations

In a sequential auction with multiple bidding agents, it is highly challenging to determine the ordering of the items to sell in order to maximize the revenue due to the fact that the autonomy and private information of the agents heavily influence the outcome of the auction. The main contribution of this paper is two-fold. First, we demonstrate how to apply machine learning techniques to solve the optimal ordering problem in sequential auctions. We learn regression models from historical auctions, which are subsequently used to predict the expected value of orderings for new auctions. Given the learned models, we propose two types of optimization methods: a black-box best-first search approach, and a novel white-box approach that maps learned models to integer linear programs (ILP) which can then be solved by any ILP-solver. Although the studied auction design problem is hard, our proposed optimization methods obtain good orderings with high revenues. Our second main contribution is the insight that the internal structure of regression models can be efficiently evaluated inside an ILP solver for optimization purposes. To this end, we provide efficient encodings of regression trees and linear regression models as ILP constraints. This new way of using learned models for optimization is promising. As the experimental results show, it significantly outperforms the black-box best-first search in nearly all settings.Comment: 37 pages. Working pape

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with Rigid Body Dynamics, these derivatives are difficult to derive analytically and to implement efficiently. To overcome this issue, we extend the modelling tool `RobCoGen' to be compatible with Automatic Differentiation. Additionally, we propose how to automatically obtain the derivatives and generate highly efficient source code. We highlight the flexibility and performance of the approach in two application examples. First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model. Second, we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly moving obstacle in a go-to task by fast, dynamic replanning

Whole-Chain Recommendations

With the recent prevalence of Reinforcement Learning (RL), there have been tremendous interests in developing RL-based recommender systems. In practical recommendation sessions, users will sequentially access multiple scenarios, such as the entrance pages and the item detail pages, and each scenario has its specific characteristics. However, the majority of existing RL-based recommender systems focus on optimizing one strategy for all scenarios or separately optimizing each strategy, which could lead to sub-optimal overall performance. In this paper, we study the recommendation problem with multiple (consecutive) scenarios, i.e., whole-chain recommendations. We propose a multi-agent RL-based approach (DeepChain), which can capture the sequential correlation among different scenarios and jointly optimize multiple recommendation strategies. To be specific, all recommender agents (RAs) share the same memory of users' historical behaviors, and they work collaboratively to maximize the overall reward of a session. Note that optimizing multiple recommendation strategies jointly faces two challenges in the existing model-free RL model - (i) it requires huge amounts of user behavior data, and (ii) the distribution of reward (users' feedback) are extremely unbalanced. In this paper, we introduce model-based RL techniques to reduce the training data requirement and execute more accurate strategy updates. The experimental results based on a real e-commerce platform demonstrate the effectiveness of the proposed framework.Comment: 29th ACM International Conference on Information and Knowledge Managemen

Dynamic Robust Transmission Expansion Planning

Recent breakthroughs in Transmission Network Expansion Planning (TNEP) have demonstrated that the use of robust optimization, as opposed to stochastic programming methods, renders the expansion planning problem considering uncertainties computationally tractable for real systems. However, there is still a yet unresolved and challenging problem as regards the resolution of the dynamic TNEP problem (DTNEP), which considers the year-by-year representation of uncertainties and investment decisions in an integrated way. This problem has been considered to be a highly complex and computationally intractable problem, and most research related to this topic focuses on very small case studies or used heuristic methods and has lead most studies about TNEP in the technical literature to take a wide spectrum of simplifying assumptions. In this paper an adaptive robust transmission network expansion planning formulation is proposed for keeping the full dynamic complexity of the problem. The method overcomes the problem size limitations and computational intractability associated with dynamic TNEP for realistic cases. Numerical results from an illustrative example and the IEEE 118-bus system are presented and discussed, demonstrating the benefits of this dynamic TNEP approach with respect to classical methods.Comment: 10 pages, 2 figures. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2016.2629266, IEEE Transactions on Power Systems 201