Causal Confusion in Imitation Learning

Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are non-causal: the training procedure is unaware of the causal structure of the interaction between the expert and the environment. We point out that ignoring causality is particularly damaging because of the distributional shift in imitation learning. In particular, it leads to a counter-intuitive "causal misidentification" phenomenon: access to more information can yield worse performance. We investigate how this problem arises, and propose a solution to combat it through targeted interventions---either environment interaction or expert queries---to determine the correct causal model. We show that causal misidentification occurs in several benchmark control domains as well as realistic driving settings, and validate our solution against DAgger and other baselines and ablations.Comment: Published at NeurIPS 2019 9 pages, plus references and appendice

iSAGE: An Incremental Version of SAGE for Online Explanation on Data Streams

Existing methods for explainable artificial intelligence (XAI), including popular feature importance measures such as SAGE, are mostly restricted to the batch learning scenario. However, machine learning is often applied in dynamic environments, where data arrives continuously and learning must be done in an online manner. Therefore, we propose iSAGE, a time- and memory-efficient incrementalization of SAGE, which is able to react to changes in the model as well as to drift in the data-generating process. We further provide efficient feature removal methods that break (interventional) and retain (observational) feature dependencies. Moreover, we formally analyze our explanation method to show that iSAGE adheres to similar theoretical properties as SAGE. Finally, we evaluate our approach in a thorough experimental analysis based on well-established data sets and data streams with concept drift

Sparse Linear Identifiable Multivariate Modeling

In this paper we consider sparse and identifiable linear latent variable (factor) and linear Bayesian network models for parsimonious analysis of multivariate data. We propose a computationally efficient method for joint parameter and model inference, and model comparison. It consists of a fully Bayesian hierarchy for sparse models using slab and spike priors (two-component delta-function and continuous mixtures), non-Gaussian latent factors and a stochastic search over the ordering of the variables. The framework, which we call SLIM (Sparse Linear Identifiable Multivariate modeling), is validated and bench-marked on artificial and real biological data sets. SLIM is closest in spirit to LiNGAM (Shimizu et al., 2006), but differs substantially in inference, Bayesian network structure learning and model comparison. Experimentally, SLIM performs equally well or better than LiNGAM with comparable computational complexity. We attribute this mainly to the stochastic search strategy used, and to parsimony (sparsity and identifiability), which is an explicit part of the model. We propose two extensions to the basic i.i.d. linear framework: non-linear dependence on observed variables, called SNIM (Sparse Non-linear Identifiable Multivariate modeling) and allowing for correlations between latent variables, called CSLIM (Correlated SLIM), for the temporal and/or spatial data. The source code and scripts are available from http://cogsys.imm.dtu.dk/slim/.Comment: 45 pages, 17 figure

Unifying Gaussian LWF and AMP Chain Graphs to Model Interference

An intervention may have an effect on units other than those to which it was administered. This phenomenon is called interference and it usually goes unmodeled. In this paper, we propose to combine Lauritzen-Wermuth-Frydenberg and Andersson-Madigan-Perlman chain graphs to create a new class of causal models that can represent both interference and non-interference relationships for Gaussian distributions. Specifically, we define the new class of models, introduce global and local and pairwise Markov properties for them, and prove their equivalence. We also propose an algorithm for maximum likelihood parameter estimation for the new models, and report experimental results. Finally, we show how to compute the effects of interventions in the new models.Comment: v2: Section 6 has been added. v3: Sections 7 and 8 have been added. v4: Major reorganization. v5: Major reorganization. v6-v7: Minor changes. v8: Addition of Appendix B. v9: Section 7 has been rewritte

Partition MCMC for inference on acyclic digraphs

Acyclic digraphs are the underlying representation of Bayesian networks, a widely used class of probabilistic graphical models. Learning the underlying graph from data is a way of gaining insights about the structural properties of a domain. Structure learning forms one of the inference challenges of statistical graphical models. MCMC methods, notably structure MCMC, to sample graphs from the posterior distribution given the data are probably the only viable option for Bayesian model averaging. Score modularity and restrictions on the number of parents of each node allow the graphs to be grouped into larger collections, which can be scored as a whole to improve the chain's convergence. Current examples of algorithms taking advantage of grouping are the biased order MCMC, which acts on the alternative space of permuted triangular matrices, and non ergodic edge reversal moves. Here we propose a novel algorithm, which employs the underlying combinatorial structure of DAGs to define a new grouping. As a result convergence is improved compared to structure MCMC, while still retaining the property of producing an unbiased sample. Finally the method can be combined with edge reversal moves to improve the sampler further.Comment: Revised version. 34 pages, 16 figures. R code available at https://github.com/annlia/partitionMCM

Identifying the consequences of dynamic treatment strategies: A decision-theoretic overview

We consider the problem of learning about and comparing the consequences of dynamic treatment strategies on the basis of observational data. We formulate this within a probabilistic decision-theoretic framework. Our approach is compared with related work by Robins and others: in particular, we show how Robins's 'G-computation' algorithm arises naturally from this decision-theoretic perspective. Careful attention is paid to the mathematical and substantive conditions required to justify the use of this formula. These conditions revolve around a property we term stability, which relates the probabilistic behaviours of observational and interventional regimes. We show how an assumption of 'sequential randomization' (or 'no unmeasured confounders'), or an alternative assumption of 'sequential irrelevance', can be used to infer stability. Probabilistic influence diagrams are used to simplify manipulations, and their power and limitations are discussed. We compare our approach with alternative formulations based on causal DAGs or potential response models. We aim to show that formulating the problem of assessing dynamic treatment strategies as a problem of decision analysis brings clarity, simplicity and generality.Comment: 49 pages, 15 figure

Diffusion Causal Models for Counterfactual Estimation

We consider the task of counterfactual estimation from observational imaging data given a known causal structure. In particular, quantifying the causal effect of interventions for high-dimensional data with neural networks remains an open challenge. Herein we propose Diff-SCM, a deep structural causal model that builds on recent advances of generative energy-based models. In our setting, inference is performed by iteratively sampling gradients of the marginal and conditional distributions entailed by the causal model. Counterfactual estimation is achieved by firstly inferring latent variables with deterministic forward diffusion, then intervening on a reverse diffusion process using the gradients of an anti-causal predictor w.r.t the input. Furthermore, we propose a metric for evaluating the generated counterfactuals. We find that Diff-SCM produces more realistic and minimal counterfactuals than baselines on MNIST data and can also be applied to ImageNet data. Code is available https://github.com/vios-s/Diff-SCM.Comment: Accepted at CLeaR (Causal Learning and Reasoning) 202