Gradient-based Regularization for Action Smoothness in Robotic Control with Reinforcement Learning

Deep Reinforcement Learning (DRL) has achieved remarkable success, ranging from complex computer games to real-world applications, showing the potential for intelligent agents capable of learning in dynamic environments. However, its application in real-world scenarios presents challenges, including the jerky problem, in which jerky trajectories not only compromise system safety but also increase power consumption and shorten the service life of robotic and autonomous systems. To address jerky actions, a method called conditioning for action policy smoothness (CAPS) was proposed by adding regularization terms to reduce the action changes. This paper further proposes a novel method, named Gradient-based CAPS (Grad-CAPS), that modifies CAPS by reducing the difference in the gradient of action and then uses displacement normalization to enable the agent to adapt to invariant action scales. Consequently, our method effectively reduces zigzagging action sequences while enhancing policy expressiveness and the adaptability of our method across diverse scenarios and environments. In the experiments, we integrated Grad-CAPS with different reinforcement learning algorithms and evaluated its performance on various robotic-related tasks in DeepMind Control Suite and OpenAI Gym environments. The results demonstrate that Grad-CAPS effectively improves performance while maintaining a comparable level of smoothness compared to CAPS and Vanilla agents.

Best of Three Worlds: Adaptive Experimentation for Digital Marketing in Practice

Adaptive experimental design (AED) methods are increasingly being used in industry as a tool to boost testing throughput or reduce experimentation cost relative to traditional A/B/N testing methods. However, the behavior and guarantees of such methods are not well-understood beyond idealized stationary settings. This paper shares lessons learned regarding the challenges of naively using AED systems in industrial settings where non-stationarity is prevalent, while also providing perspectives on the proper objectives and system specifications in such settings. We developed an AED framework for counterfactual inference based on these experiences, and tested it in a commercial environment.