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

A hybrid algorithm for Bayesian network structure learning with application to multi-label learning

We present a novel hybrid algorithm for Bayesian network structure learning, called H2PC. It first reconstructs the skeleton of a Bayesian network and then performs a Bayesian-scoring greedy hill-climbing search to orient the edges. The algorithm is based on divide-and-conquer constraint-based subroutines to learn the local structure around a target variable. We conduct two series of experimental comparisons of H2PC against Max-Min Hill-Climbing (MMHC), which is currently the most powerful state-of-the-art algorithm for Bayesian network structure learning. First, we use eight well-known Bayesian network benchmarks with various data sizes to assess the quality of the learned structure returned by the algorithms. Our extensive experiments show that H2PC outperforms MMHC in terms of goodness of fit to new data and quality of the network structure with respect to the true dependence structure of the data. Second, we investigate H2PC's ability to solve the multi-label learning problem. We provide theoretical results to characterize and identify graphically the so-called minimal label powersets that appear as irreducible factors in the joint distribution under the faithfulness condition. The multi-label learning problem is then decomposed into a series of multi-class classification problems, where each multi-class variable encodes a label powerset. H2PC is shown to compare favorably to MMHC in terms of global classification accuracy over ten multi-label data sets covering different application domains. Overall, our experiments support the conclusions that local structural learning with H2PC in the form of local neighborhood induction is a theoretically well-motivated and empirically effective learning framework that is well suited to multi-label learning. The source code (in R) of H2PC as well as all data sets used for the empirical tests are publicly available.Comment: arXiv admin note: text overlap with arXiv:1101.5184 by other author

Transforming Graph Representations for Statistical Relational Learning

Relational data representations have become an increasingly important topic due to the recent proliferation of network datasets (e.g., social, biological, information networks) and a corresponding increase in the application of statistical relational learning (SRL) algorithms to these domains. In this article, we examine a range of representation issues for graph-based relational data. Since the choice of relational data representation for the nodes, links, and features can dramatically affect the capabilities of SRL algorithms, we survey approaches and opportunities for relational representation transformation designed to improve the performance of these algorithms. This leads us to introduce an intuitive taxonomy for data representation transformations in relational domains that incorporates link transformation and node transformation as symmetric representation tasks. In particular, the transformation tasks for both nodes and links include (i) predicting their existence, (ii) predicting their label or type, (iii) estimating their weight or importance, and (iv) systematically constructing their relevant features. We motivate our taxonomy through detailed examples and use it to survey and compare competing approaches for each of these tasks. We also discuss general conditions for transforming links, nodes, and features. Finally, we highlight challenges that remain to be addressed

mARC: Memory by Association and Reinforcement of Contexts

This paper introduces the memory by Association and Reinforcement of Contexts (mARC). mARC is a novel data modeling technology rooted in the second quantization formulation of quantum mechanics. It is an all-purpose incremental and unsupervised data storage and retrieval system which can be applied to all types of signal or data, structured or unstructured, textual or not. mARC can be applied to a wide range of information clas-sification and retrieval problems like e-Discovery or contextual navigation. It can also for-mulated in the artificial life framework a.k.a Conway "Game Of Life" Theory. In contrast to Conway approach, the objects evolve in a massively multidimensional space. In order to start evaluating the potential of mARC we have built a mARC-based Internet search en-gine demonstrator with contextual functionality. We compare the behavior of the mARC demonstrator with Google search both in terms of performance and relevance. In the study we find that the mARC search engine demonstrator outperforms Google search by an order of magnitude in response time while providing more relevant results for some classes of queries

No-But-Semantic-Match: Computing Semantically Matched XML Keyword Search Results

Users are rarely familiar with the content of a data source they are querying, and therefore cannot avoid using keywords that do not exist in the data source. Traditional systems may respond with an empty result, causing dissatisfaction, while the data source in effect holds semantically related content. In this paper we study this no-but-semantic-match problem on XML keyword search and propose a solution which enables us to present the top-k semantically related results to the user. Our solution involves two steps: (a) extracting semantically related candidate queries from the original query and (b) processing candidate queries and retrieving the top-k semantically related results. Candidate queries are generated by replacement of non-mapped keywords with candidate keywords obtained from an ontological knowledge base. Candidate results are scored using their cohesiveness and their similarity to the original query. Since the number of queries to process can be large, with each result having to be analyzed, we propose pruning techniques to retrieve the top-$k$ results efficiently. We develop two query processing algorithms based on our pruning techniques. Further, we exploit a property of the candidate queries to propose a technique for processing multiple queries in batch, which improves the performance substantially. Extensive experiments on two real datasets verify the effectiveness and efficiency of the proposed approaches.Comment: 24 pages, 21 figures, 6 tables, submitted to The VLDB Journal for possible publicatio