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Mahsa Ghasemi

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11 papers

2 author rows

TMLR Journal 2025 Journal Article

Identification of Average Outcome under Interventions in Confounded Additive Noise Models

Muhammad Qasim Elahi
Mahsa Ghasemi
Murat Kocaoglu

Additive noise models (ANMs) are an important setting studied in causal inference. Most existing works on ANMs assume causal sufficiency, i.e., there are no unobserved confounders. This paper focuses on confounded ANMs, where a set of treatment variables and a target variable are affected by an unobserved confounder that follows a multivariate Gaussian distribution. We introduce a novel approach for estimating the average outcome under interventions (AOIs) for interventions on any subset of treatment variables and demonstrate that a small set of interventional distributions is sufficient to estimate all of them. In addition, we propose a randomized algorithm that further reduces the number of required interventions to poly-logarithmic in the number of nodes. Finally, we demonstrate that these interventions are also sufficient to recover the causal structure between the observed variables. This establishes that a poly-logarithmic number of interventions is sufficient to infer the causal effects of any subset of treatments on the outcome in confounded ANMs with high probability, even when the causal structure between treatments is unknown. The simulation results indicate that our method can accurately estimate all AOIs in the finite-sample regime. We also demonstrate the practical significance of our algorithm by evaluating it on semi-synthetic data.

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ICML Conference 2025 Conference Paper

Online Laplacian-Based Representation Learning in Reinforcement Learning

Maheed H. Ahmed
Jayanth Bhargav
Mahsa Ghasemi

Representation learning plays a crucial role in reinforcement learning, especially in complex environments with high-dimensional and unstructured states. Effective representations can enhance the efficiency of learning algorithms by improving sample efficiency and generalization across tasks. This paper considers the Laplacian-based framework for representation learning, where the eigenvectors of the Laplacian matrix of the underlying transition graph are leveraged to encode meaningful features from raw sensory observations of the states. Despite the promising algorithmic advances in this framework, it remains an open question whether the Laplacian-based representations can be learned online and with theoretical guarantees along with policy learning. We address this by formulating an online optimization approach using the Asymmetric Graph Drawing Objective (AGDO) and analyzing its convergence via online projected gradient descent under mild assumptions. Our extensive simulation studies empirically validate the convergence guarantees to the true Laplacian representation. Furthermore, we provide insights into the compatibility of different reinforcement learning algorithms with online representation learning.

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ICML Conference 2024 Conference Paper

Adaptive Online Experimental Design for Causal Discovery

Muhammad Qasim Elahi
Lai Wei
Murat Kocaoglu
Mahsa Ghasemi

Causal discovery aims to uncover cause-and-effect relationships encoded in causal graphs by leveraging observational, interventional data, or their combination. The majority of existing causal discovery methods are developed assuming infinite interventional data. We focus on interventional data efficiency and formalize causal discovery from the perspective of online learning, inspired by pure exploration in bandit problems. A graph separating system, consisting of interventions that cut every edge of the graph at least once, is sufficient for learning causal graphs when infinite interventional data is available, even in the worst case. We propose a track-and-stop causal discovery algorithm that adaptively selects interventions from the graph separating system via allocation matching and learns the causal graph based on sampling history. Given any desired confidence value, the algorithm determines a termination condition and runs until it is met. We analyze the algorithm to establish a problem-dependent upper bound on the expected number of required interventional samples. Our proposed algorithm outperforms existing methods in simulations across various randomly generated causal graphs. It achieves higher accuracy, measured by the structural hamming distance (SHD) between the learned causal graph and the ground truth, with significantly fewer samples.

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NeurIPS Conference 2024 Conference Paper

Partial Structure Discovery is Sufficient for No-regret Learning in Causal Bandits

Muhammad Qasim Elahi
Mahsa Ghasemi
Murat Kocaoglu

Causal knowledge about the relationships among decision variables and a reward variable in a bandit setting can accelerate the learning of an optimal decision. Current works often assume the causal graph is known, which may not always be available a priori. Motivated by this challenge, we focus on the causal bandit problem in scenarios where the underlying causal graph is unknown and may include latent confounders. While intervention on the parents of the reward node is optimal in the absence of latent confounders, this is not necessarily the case in general. Instead, one must consider a set of possibly optimal arms/interventions, each being a special subset of the ancestors of the reward node, making causal discovery beyond the parents of the reward node essential. For regret minimization, we identify that discovering the full causal structure is unnecessary; however, no existing work provides the necessary and sufficient components of the causal graph. We formally characterize the set of necessary and sufficient latent confounders one needs to detect or learn to ensure that all possibly optimal arms are identified correctly. We also propose a randomized algorithm for learning the causal graph with a limited number of samples, providing a sample complexity guarantee for any desired confidence level. In the causal bandit setup, we propose a two-stage approach. In the first stage, we learn the induced subgraph on ancestors of the reward, along with a necessary and sufficient subset of latent confounders, to construct the set of possibly optimal arms. We show that for our proposed algorithm, the number of intervention samples required to learn the set of possibly optimal arms scales polynomially with respect to the number of nodes. The second phase involves the application of a standard bandit algorithm, such as the UCB algorithm. We also establish a regret bound for our two-phase approach, which is sublinear in the number of rounds.

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NeurIPS Conference 2023 Conference Paper

Approximate Allocation Matching for Structural Causal Bandits with Unobserved Confounders

Lai Wei
Muhammad Qasim Elahi
Mahsa Ghasemi
Murat Kocaoglu

Structural causal bandit provides a framework for online decision-making problems when causal information is available. It models the stochastic environment with a structural causal model (SCM) that governs the causal relations between random variables. In each round, an agent applies an intervention (or no intervention) by setting certain variables to some constants and receives a stochastic reward from a non-manipulable variable. Though the causal structure is given, the observational and interventional distributions of these random variables are unknown beforehand, and they can only be learned through interactions with the environment. Therefore, to maximize the expected cumulative reward, it is critical to balance the explore-versus-exploit tradeoff. We assume each random variable takes a finite number of distinct values, and consider a semi-Markovian setting, where random variables are affected by unobserved confounders. Using the canonical SCM formulation to discretize the domains of unobserved variables, we efficiently integrate samples to reduce model uncertainty. This gives the decision maker a natural advantage over those in a classical multi-armed bandit setup. We provide a logarithmic asymptotic regret lower bound for the structural causal bandit problem. Inspired by the lower bound, we design an algorithm that can utilize the causal structure to accelerate the learning process and take informative and rewarding interventions. We establish that our algorithm achieves a logarithmic regret and demonstrate that it outperforms the existing methods via simulations.

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ICAPS Conference 2021 Conference Paper

Multiple Plans are Better than One: Diverse Stochastic Planning

Mahsa Ghasemi
Evan Scope Crafts
Bo Zhao
Ufuk Topcu

In planning problems, it is often challenging to fully model the desired specifications. In particular, in human-robot interaction, such difficulty may arise due to human's preferences that are either private or complex to model. Consequently, the resulting objective function can only partially capture the specifications and optimizing that may lead to poor performance with respect to the true specifications. Motivated by this challenge, we formulate a problem, called diverse stochastic planning, that aims to generate a set of representative --- small and diverse --- behaviors that are near-optimal with respect to the known objective. In particular, the problem aims to compute a set of diverse and near-optimal policies for systems modeled by a Markov decision process. We cast the problem as a constrained nonlinear optimization for which we propose a solution relying on the Frank-Wolfe method. We then prove that the proposed solution converges to a stationary point and demonstrate its efficacy in several planning problems.

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UAI Conference 2021 Conference Paper

No-regret learning with high-probability in adversarial Markov decision processes

Mahsa Ghasemi
Abolfazl Hashemi
Haris Vikalo
Ufuk Topcu

In a variety of problems, a decision-maker is unaware of the loss function associated with a task, yet it has to minimize this unknown loss in order to accomplish the task. Furthermore, the decision-maker’s task may evolve, resulting in a varying loss function. In this setting, we explore sequential decision-making problems modeled by adversarial Markov decision processes, where the loss function may arbitrarily change at every time step. We consider the bandit feedback scenario, where the agent observes only the loss corresponding to its actions. We propose an algorithm, called online relative-entropy policy search with implicit exploration, that achieves a sublinear regret not only in expectation but, more importantly, with high probability. In particular, we prove that by employing an optimistically biased loss estimator, the proposed algorithm achieves a regret of $\tilde{\mathcal{O}}((T|\act||\st|)^{\pp} \sqrt{\tau})$, where $|\st|$ is the number of states, $|\act|$ is the number of actions, $\tau$ is the mixing time, and $T$ is the time horizon. To our knowledge, the proposed algorithm is the first scheme that enjoys such high-probability regret bounds for general adversarial Markov decision processes under the presence of bandit feedback.

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ICML Conference 2020 Conference Paper

Task-Oriented Active Perception and Planning in Environments with Partially Known Semantics

Mahsa Ghasemi
Erdem Bulgur
Ufuk Topcu

We consider an agent that is assigned with a temporal logic task in an environment whose semantic representation is only partially known. We represent the semantics of the environment with a set of state properties, called \emph{atomic propositions} over which, the agent holds a probabilistic belief and updates it as new sensory measurements arrive. The goal is to design a joint perception and planning strategy for the agent that realizes the task with high probability. We develop a planning strategy that takes the semantic uncertainties into account and by doing so provides probabilistic guarantees on the task success. Furthermore, as new data arrive, the belief over the atomic propositions evolves and, subsequently, the planning strategy adapts accordingly. We evaluate the proposed method on various finite-horizon tasks in planar navigation settings where the empirical results show that the proposed method provides reliable task performance that also improves as the knowledge about the environment enhances.

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IJCAI Conference 2019 Conference Paper

Perception-Aware Point-Based Value Iteration for Partially Observable Markov Decision Processes

Mahsa Ghasemi
Ufuk Topcu

In conventional partially observable Markov decision processes, the observations that the agent receives originate from fixed known distributions. However, in a variety of real-world scenarios, the agent has an active role in its perception by selecting which observations to receive. We avoid combinatorial expansion of the action space from integration of planning and perception decisions, through a greedy strategy for observation selection that minimizes an information-theoretic measure of the state uncertainty. We develop a novel point-based value iteration algorithm that incorporates this greedy strategy to pick perception actions for each sampled belief point in each iteration. As a result, not only the solver requires less belief points to approximate the reachable subspace of the belief simplex, but it also requires less computation per iteration. Further, we prove that the proposed algorithm achieves a near-optimal guarantee on value function with respect to an optimal perception strategy, and demonstrate its performance empirically.

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ICML Conference 2019 Conference Paper

Submodular Observation Selection and Information Gathering for Quadratic Models

Abolfazl Hashemi
Mahsa Ghasemi
Haris Vikalo
Ufuk Topcu

We study the problem of selecting most informative subset of a large observation set to enable accurate estimation of unknown parameters. This problem arises in a variety of settings in machine learning and signal processing including feature selection, phase retrieval, and target localization. Since for quadratic measurement models the moment matrix of the optimal estimator is generally unknown, majority of prior work resorts to approximation techniques such as linearization of the observation model to optimize the alphabetical optimality criteria of an approximate moment matrix. Conversely, by exploiting a connection to the classical Van Trees’ inequality, we derive new alphabetical optimality criteria without distorting the relational structure of the observation model. We further show that under certain conditions on parameters of the problem these optimality criteria are monotone and (weak) submodular set functions. These results enable us to develop an efficient greedy observation selection algorithm uniquely tailored for quadratic models, and provide theoretical bounds on its achievable utility.

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ICRA Conference 2018 Conference Paper

Counterexamples for Robotic Planning Explained in Structured Language

Lu Feng 0001
Mahsa Ghasemi
Kai-Wei Chang 0001
Ufuk Topcu

Automated techniques such as model checking have been used to verify models of robotic mission plans based on Markov decision processes (MDPs) and generate counterexamples that may help diagnose requirement violations. However, such artifacts may be too complex for humans to understand, because existing representations of counterexamples typically include a large number of paths or a complex automaton. To help improve the interpretability of counterexamples, we define a notion of explainable counterexample, which includes a set of structured natural language sentences to describe the robotic behavior that lead to a requirement violation in an MDP model of robotic mission plan. We propose an approach based on mixed-integer linear programming for generating explainable counterexamples that are minimal, sound and complete. We demonstrate the usefulness of the proposed approach via a case study of warehouse robots planning.

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