Algorithms and theory

We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a bilevel formulation that separates collision detection and contact simulation. These approaches are unreliable in realistic contact simulation scenarios...

In this work, we investigate the online learning problem of revenue maximization in ad auctions, where the seller needs to learn the click-through rates (CTRs) of each ad candidate and charge the price of the winner through a pay-per-click manner. We focus on two models of the advertisers’ strategic behaviours. First, we assume that the advertiser is completely myopic; i.e. in each round, they...

We study the design of loss functions for click-through rates (CTR) to optimize (social) welfare in ad auctions. Existing works either only focus on CTR predictions without consideration of business objectives (e.g. welfare) in auctions or assume that the distribution over the participants' expected cost-per-impression (eCPM) is known a priori and uses various additional assumptions on the...

We introduce a framework for modeling and solving reinforcement learning problems in non-Markovian, history-dependent environments. Our framework, called the Dynamic Contextual Markov Decision Process (DCMDP), generalizes the contextual MDP framework to handle non-Markov environments where contexts change over time. To overcome the exponential dependence on history, we leverage an aggregated...