Estimating causal effects from real-world relational data can be challenging when the underlying causal model and potential confounders are unknown. While several causal discovery algorithms exist for learning causal models with latent confounders from data, they assume that the data is independent and identically distributed (i.i.d.) and are not well-suited for learning from relational data. Similarly, existing relational causal discovery algorithms assume causal sufficiency, which is unrealistic for many real-world datasets. To address this gap, we propose RelFCI, a sound and complete causal discovery algorithm for relational data with latent confounders. Our work builds upon the Fast Causal Inference (FCI) and Relational Causal Discovery (RCD) algorithms and it defines new graphical models, necessary to support causal discovery in relational domains. We also establish soundness and completeness guarantees for relational d-separation with latent confounders. We present experimental results demonstrating the effectiveness of RelFCI in identifying the correct causal structure in relational causal models with latent confounders.

We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as a measure of distance, we give an exact characterization of a (not necessarily unique) shortest collision-avoiding motion for all initial and goal configurations of the robots. The individual paths are composed of at most six convex pieces, and their total length can be expressed as a simple integral with a closed form solution depending only on the initial and goal configuration of the robots. The path pieces are either straight segments or segments of the boundary of the Minkowski sum of the two robots (circular arcs, in the special case of disc robots). Furthermore, the paths can be parameterized in such a way that (i) only one robot is moving at any given time (decoupled motion), or (ii) the orientation of the robot configuration changes monotonically.

Parameterized quantum circuits can be used as quantum neural networks and have the potential to outperform their classical counterparts when trained for addressing learning problems. To date, much of the results on their performance on practical problems are heuristic in nature. In particular, the convergence rate for the training of quantum neural networks is not fully understood. Here, we analyze the dynamics of gradient descent for the training error of a class of variational quantum machine learning models. We define wide quantum neural networks as parameterized quantum circuits in the limit of a large number of qubits and variational parameters. We then find a simple analytic formula that captures the average behavior of their loss function and discuss the consequences of our findings. For example, for random quantum circuits, we predict and characterize an exponential decay of the residual training error as a function of the parameters of the system. We finally validate our analytic results with numerical experiments.

We develop two fundamental stochastic sketching techniques; Penalty Sketching (PS) and Augmented Lagrangian Sketching (ALS) for solving consistent linear systems. The proposed PS and ALS techniques extend and generalize the scope of Sketch & Project (SP) method by introducing Lagrangian penalty sketches. In doing so, we recover SP methods as special cases and furthermore develop a family of new stochastic iterative methods. By varying sketch parameters in the proposed PS method, we recover novel stochastic methods such as Penalty Newton Descent, Penalty Kaczmarz, Penalty Stochastic Descent, Penalty Coordinate Descent, Penalty Gaussian Pursuit, and Penalty Block Kaczmarz. Furthermore, the proposed ALS method synthesizes a wide variety of new stochastic methods such as Augmented Newton Descent, Augmented Kaczmarz, Augmented Stochastic Descent, Augmented Coordinate Descent, Augmented Gaussian Pursuit, and Augmented Block Kaczmarz into one framework. Moreover, we show that the developed PS and ALS frameworks can be used to reformulate the original linear system into equivalent stochastic optimization problems namely the Penalty Stochastic Reformulation and Augmented Stochastic Reformulation. We prove global convergence rates for the PS and ALS methods as well as sub-linear $\mathcal{O}(\frac{1}{k})$ rates for the Cesaro average of iterates. The proposed convergence results hold for a wide family of distributions of random matrices, which provides the opportunity of fine-tuning the randomness of the method suitable for specific applications. Finally, we perform computational experiments that demonstrate the efficiency of our methods compared to the existing SP methods.

The task of approximating an arbitrary convex function arises in several learning problems such as convex regression, learning with a difference of convex (DC) functions, and approximating Bregman divergences. In this paper, we show how a broad class of convex function learning problems can be solved via a 2-block ADMM approach, where updates for each block can be computed in closed form. For the task of convex Lipschitz regression, we establish that our proposed algorithm converges with iteration complexity of $ O(n\sqrt{d}/\epsilon)$ for a dataset $ X \in \mathbb R^{n\times d}$ and $\epsilon > 0$. Combined with per-iteration computation complexity, our method converges with the rate $O(n^3 d^{1.5}/\epsilon+n^2 d^{2.5}/\epsilon+n d^3/\epsilon)$. This new rate improves the state of the art rate of $O(n^5d^2/\epsilon)$ available by interior point methods if $d = o( n^4)$. Further we provide similar solvers for DC regression and Bregman divergence learning. Unlike previous approaches, our method is amenable to the use of GPUs. We demonstrate on regression and metric learning experiments that our approach is up to 30 times faster than the existing method, and produces results that are comparable to state-of-the-art.

The Weak Completion Semantics (WCS) is a computational cognitive theory that has shown to be successful in modeling episodes of human reasoning. As the WCS is a recently developed logic programming approach, this paper investigates the correspondence of the WCS with respect to the well-established Answer Set Semantics (ASP). The underlying three-valued logic of both semantics is different and their models are evaluated with respect to different program transformations. We first illustrate these differences by the formal representation of some examples of a well-known psychological experiment, the suppression task. After that, we will provide a translation from logic programs understood under the WCS into logic programs understood under the ASP. In particular, we will show that logic programs under the WCS can be represented as logic programs under the ASP by means of a definition completion, where all defined atoms in a program must be false when their definitions are false.

We present BRIGITTE, a new path-finding algorithm for 8-connected grids. It is based on the notion bridge that we define here, i.e., a high-level description of paths between all pairs of points from two convex regions that allows fast distance query and fast generation of the prefix and suffix of these paths. BRIGITTE uses a pre-processing step to first partition the map into convex regions and then compute a sufficient set of bridges between every pair of regions. Path-finding is then performed by looking up the regions of the source and target cells and then iterating over the bridges of the pair of regions to determine which one yields the shortest path. BRIGITTE competes favourably compared to CH-SG-R and Copp, although this currently comes at a price of an extensive pre-processing.

The Weak Completion Semantics is a novel cognitive theory which has been successfully applied to the suppression task, the selection task, syllogistic reasoning, the belief bias effect, spatial reasoning as well as reasoning with conditionals. It is based on logic programming with skeptical abduction. Each program admits a least model under the three-valued Lukasiewicz logic, which can be computed as the least fixed point of an appropriate semantic operator. The semantic operator can be represented by a three-layer feed-forward network using the core method. Its least fixed point is the unique stable state of a recursive network which is obtained from the three-layer feed-forward core by mapping the activation of the output layer back to the input layer. The recursive network is embedded into a novel network to compute skeptical abduction. This paper presents a fully connectionist realization of the Weak Completion Semantics.

We develop a family of reformulations of an arbitrary consistent linear system into a stochastic problem. The reformulations are governed by two user-defined parameters: a positive definite matrix defining a norm, and an arbitrary discrete or continuous distribution over random matrices. Our reformulation has several equivalent interpretations, allowing for researchers from various communities to leverage their domain specific insights. In particular, our reformulation can be equivalently seen as a stochastic optimization problem, stochastic linear system, stochastic fixed point problem and a probabilistic intersection problem. We prove sufficient, and necessary and sufficient conditions for the reformulation to be exact. Further, we propose and analyze three stochastic algorithms for solving the reformulated problem---basic, parallel and accelerated methods---with global linear convergence rates. The rates can be interpreted as condition numbers of a matrix which depends on the system matrix and on the reformulation parameters. This gives rise to a new phenomenon which we call stochastic preconditioning, and which refers to the problem of finding parameters (matrix and distribution) leading to a sufficiently small condition number. Our basic method can be equivalently interpreted as stochastic gradient descent, stochastic Newton method, stochastic proximal point method, stochastic fixed point method, and stochastic projection method, with fixed stepsize (relaxation parameter), applied to the reformulations.

The belief bias effect is a phenomenon which occurs when we think that we judge an argument based on our reasoning, but are actually influenced by our beliefs and prior knowledge. Evans, Barston and Pollard carried out a psychological syllogistic reasoning task to prove this effect. Participants were asked whether they would accept or reject a given syllogism. We discuss one specific case which is commonly assumed to be believable but which is actually not logically valid. By introducing abnormalities, abduction and background knowledge, we adequately model this case under the weak completion semantics. Our formalization reveals new questions about possible extensions in abductive reasoning. For instance, observations and their explanations might include some relevant prior abductive contextual information concerning some side-effect or leading to a contestable or refutable side-effect. A weaker notion indicates the support of some relevant consequences by a prior abductive context. Yet another definition describes jointly supported relevant consequences, which captures the idea of two observations containing mutually supportive side-effects. Though motivated with and exemplified by the running psychology application, the various new general abductive context definitions are introduced here and given a declarative semantics for the first time, and have a much wider scope of application. Inspection points, a concept introduced by Pereira and Pinto, allows us to express these definitions syntactically and intertwine them into an operational semantics.