LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR measurements. This paper presents a novel solution for 3D RADAR-LIDAR calibration in autonomous systems. The method employs simple targets to generate data, including correspondence registration and a one-step optimization algorithm. The optimization aims to minimize the reprojection error while utilizing a small multi-layer perception (MLP) to perform regression on the return energy of the sensor around the targets. The proposed approach uses a deep learning framework such as PyTorch and can be optimized through gradient descent. The experiment uses a 360-degree Ouster-128 LIDAR and a 360-degree Navtech RADAR, providing raw measurements. The results validate the effectiveness of the proposed method in achieving improved estimates of extrinsic calibration parameters.
Recently, short video platforms have achieved rapid user growth by recommending interesting content to users. The objective of the recommendation is to optimize user retention, thereby driving the growth of DAU (Daily Active Users). Retention is a long-term feedback after multiple interactions of users and the system, and it is hard to decompose retention reward to each item or a list of items. Thus traditional point-wise and list-wise models are not able to optimize retention. In this paper, we choose reinforcement learning methods to optimize the retention as they are designed to maximize the long-term performance. We formulate the problem as an infinite-horizon request-based Markov Decision Process, and our objective is to minimize the accumulated time interval of multiple sessions, which is equal to improving the app open frequency and user retention. However, current reinforcement learning algorithms can not be directly applied in this setting due to uncertainty, bias, and long delay time incurred by the properties of user retention. We propose a novel method, dubbed RLUR, to address the aforementioned challenges. Both offline and live experiments show that RLUR can significantly improve user retention. RLUR has been fully launched in Kuaishou app for a long time, and achieves consistent performance improvement on user retention and DAU.
Online platforms often incentivize consumers to improve user engagement and platform revenue. Since different consumers might respond differently to incentives, individual-level budget allocation is an essential task in marketing campaigns. Recent advances in this field often address the budget allocation problem using a two-stage paradigm: the first stage estimates the individual-level treatment effects using causal inference algorithms, and the second stage invokes integer programming techniques to find the optimal budget allocation solution. Since the objectives of these two stages might not be perfectly aligned, such a two-stage paradigm could hurt the overall marketing effectiveness. In this paper, we propose a novel end-to-end framework to directly optimize the business goal under budget constraints. Our core idea is to construct a regularizer to represent the marketing goal and optimize it efficiently using gradient estimation techniques. As such, the obtained models can learn to maximize the marketing goal directly and precisely. We extensively evaluate our proposed method in both offline and online experiments, and experimental results demonstrate that our method outperforms current state-of-the-art methods. Our proposed method is currently deployed to allocate marketing budgets for hundreds of millions of users on a short video platform and achieves significant business goal improvements. Our code will be publicly available.
Recommender systems usually rely on observed user interaction data to build personalized recommendation models, assuming that the observed data reflect user interest. However, user interacting with an item may also due to conformity, the need to follow popular items. Most previous studies neglect user's conformity and entangle interest with it, which may cause the recommender systems fail to provide satisfying results. Therefore, from the cause-effect view, disentangling these interaction causes is a crucial issue. It also contributes to OOD problems, where training and test data are out-of-distribution. Nevertheless, it is quite challenging as we lack the signal to differentiate interest and conformity. The data sparsity of pure cause and the items' long-tail problem hinder disentangled causal embedding. In this paper, we propose DCCL, a framework that adopts contrastive learning to disentangle these two causes by sample augmentation for interest and conformity respectively. Futhermore, DCCL is model-agnostic, which can be easily deployed in any industrial online system. Extensive experiments are conducted over two real-world datasets and DCCL outperforms state-of-the-art baselines on top of various backbone models in various OOD environments. We also demonstrate the performance improvements by online A/B testing on Kuaishou, a billion-user scale short-video recommender system.
In recommender systems, reinforcement learning solutions have effectively boosted recommendation performance because of their ability to capture long-term user-system interaction. However, the action space of the recommendation policy is a list of items, which could be extremely large with a dynamic candidate item pool. To overcome this challenge, we propose a hyper-actor and critic learning framework where the policy decomposes the item list generation process into a hyper-action inference step and an effect-action selection step. The first step maps the given state space into a vectorized hyper-action space, and the second step selects the item list based on the hyper-action. In order to regulate the discrepancy between the two action spaces, we design an alignment module along with a kernel mapping function for items to ensure inference accuracy and include a supervision module to stabilize the learning process. We build simulated environments on public datasets and empirically show that our framework is superior in recommendation compared to standard RL baselines.
In recent years, Multi-task Learning (MTL) has yielded immense success in Recommender System (RS) applications. However, current MTL-based recommendation models tend to disregard the session-wise patterns of user-item interactions because they are predominantly constructed based on item-wise datasets. Moreover, balancing multiple objectives has always been a challenge in this field, which is typically avoided via linear estimations in existing works. To address these issues, in this paper, we propose a Reinforcement Learning (RL) enhanced MTL framework, namely RMTL, to combine the losses of different recommendation tasks using dynamic weights. To be specific, the RMTL structure can address the two aforementioned issues by (i) constructing an MTL environment from session-wise interactions and (ii) training multi-task actor-critic network structure, which is compatible with most existing MTL-based recommendation models, and (iii) optimizing and fine-tuning the MTL loss function using the weights generated by critic networks. Experiments on two real-world public datasets demonstrate the effectiveness of RMTL with a higher AUC against state-of-the-art MTL-based recommendation models. Additionally, we evaluate and validate RMTL's compatibility and transferability across various MTL models.
The wide popularity of short videos on social media poses new opportunities and challenges to optimize recommender systems on the video-sharing platforms. Users sequentially interact with the system and provide complex and multi-faceted responses, including watch time and various types of interactions with multiple videos. One the one hand, the platforms aims at optimizing the users' cumulative watch time (main goal) in long term, which can be effectively optimized by Reinforcement Learning. On the other hand, the platforms also needs to satisfy the constraint of accommodating the responses of multiple user interactions (auxiliary goals) such like, follow, share etc. In this paper, we formulate the problem of short video recommendation as a Constrained Markov Decision Process (CMDP). We find that traditional constrained reinforcement learning algorithms can not work well in this setting. We propose a novel two-stage constrained actor-critic method: At stage one, we learn individual policies to optimize each auxiliary signal. At stage two, we learn a policy to (i) optimize the main signal and (ii) stay close to policies learned at the first stage, which effectively guarantees the performance of this main policy on the auxiliaries. Through extensive offline evaluations, we demonstrate effectiveness of our method over alternatives in both optimizing the main goal as well as balancing the others. We further show the advantage of our method in live experiments of short video recommendations, where it significantly outperforms other baselines in terms of both watch time and interactions. Our approach has been fully launched in the production system to optimize user experiences on the platform.
Embedding-based retrieval (EBR) methods are widely used in modern recommender systems thanks to its simplicity and effectiveness. However, along the journey of deploying and iterating on EBR in production, we still identify some fundamental issues in existing methods. First, when dealing with large corpus of candidate items, EBR models often have difficulties in balancing the performance on distinguishing highly relevant items (positives) from both irrelevant ones (easy negatives) and from somewhat related yet not competitive ones (hard negatives). Also, we have little control in the diversity and fairness of the retrieval results because of the ``greedy'' nature of nearest vector search. These issues compromise the performance of EBR methods in large-scale industrial scenarios. This paper introduces a simple and proven-in-production solution to overcome these issues. The proposed solution takes a divide-and-conquer approach: the whole set of candidate items are divided into multiple clusters and we run EBR to retrieve relevant candidates from each cluster in parallel; top candidates from each cluster are then combined by some controllable merging strategies. This approach allows our EBR models to only concentrate on discriminating positives from mostly hard negatives. It also enables further improvement from a multi-tasking learning (MTL) perspective: retrieval problems within each cluster can be regarded as individual tasks; inspired by recent successes in prompting and prefix-tuning, we propose an efficient task adaption technique further boosting the retrieval performance within each cluster with negligible overheads.