Estimating the effect of an intervention from observational data while accounting for confounding variables is a key task in causal inference. Oftentimes, the confounders are unobserved, but we have access to large amounts of additional unstructured data (images, text) that contain valuable proxy signal about the missing confounders. This paper argues that leveraging this unstructured data can greatly improve the accuracy of causal effect estimation. Specifically, we introduce deep multi-modal structural equations, a generative model for causal effect estimation in which confounders are latent variables and unstructured data are proxy variables. This model supports multiple multi-modal proxies (images, text) as well as missing data. We empirically demonstrate that our approach outperforms existing methods based on propensity scores and corrects for confounding using unstructured inputs on tasks in genomics and healthcare. Our methods can potentially support the use of large amounts of data that were previously not used in causal inference.

This paper studies offline Imitation Learning (IL) where an agent learns to imitate an expert demonstrator without additional online environment interactions. Instead, the learner is presented with a static offline dataset of state-action-next state transition triples from a potentially less proficient behavior policy. We introduce Model-based IL from Offline data (MILO): an algorithmic framework that utilizes the static dataset to solve the offline IL problem efficiently both in theory and in practice. In theory, even if the behavior policy is highly sub-optimal compared to the expert, we show that as long as the data from the behavior policy provides sufficient coverage on the expert state-action traces (and with no necessity for a global coverage over the entire state-action space), MILO can provably combat the covariate shift issue in IL. Complementing our theory results, we also demonstrate that a practical implementation of our approach mitigates covariate shift on benchmark MuJoCo continuous control tasks. We demonstrate that with behavior policies whose performances are less than half of that of the expert, MILO still successfully imitates with an extremely low number of expert state-action pairs while traditional offline IL method such as behavior cloning (BC) fails completely. Source code is provided at https://github.com/jdchang1/milo.