This paper addresses the problem of mz-transportability, that is, transferring causal knowledge collected in several heterogeneous domains to a target domain in which only passive observations and limited experimental data can be collected. The paper first establishes a necessary and sufficient condition for deciding the feasibility of mz-transportability, i.e., whether causal effects in the target domain are estimable from the information available. It further proves that a previously established algorithm for computing transport formula is in fact complete, that is, failure of the algorithm implies non-existence of a transport formula. Finally, the paper shows that the do-calculus is complete for the mz-transportability class.

This paper addresses the problem of mz-transportability, that is, transferring causal knowledge collected in several heterogeneous domains to a target domain in which only passive observations and limited experimental data can be collected. The paper first establishes a necessary and sufficient condition for deciding the feasibility of mz-transportability, i.e., whether causal effects in the target domain are estimable from the information available. It further proves that a previously established algorithm for computing transport formula is in fact complete, that is, failure of the algorithm implies non-existence of a transport formula. Finally, the paper shows that the do-calculus is complete for the mz-transportability class.

This paper addresses the problem of $mz$-transportability, that is, transferring causal knowledge collected in several heterogeneous domains to a target domain in which only passive observations and limited experimental data can be collected. The paper first establishes a necessary and sufficient condition for deciding the feasibility of $mz$-transportability, i.e., whether causal effects in the target domain are estimable from the information available. It further proves that a previously established algorithm for computing transport formula is in fact complete, that is, failure of the algorithm implies non-existence of a transport formula. Finally, the paper shows that the do-calculus is complete for the $mz$-transportability class.

In (Otte and Correll 2013) we present C-FOREST, a parallelization framework for single-query sampling-based shortest-path planning algorithms. C-FOREST has been observed to have super linear speedup on many problems, e.g., paths of quality Ltarget are found 350X faster by 64 CPUs working in parallel than by 1 CPU. In (Otte and Correll 2013) C-FOREST is tested in conjunction with the RRT* algorithm. In the current work we perform additional experiments that show C-FOREST provides similar advantages when used conjunction with the SPRT algorithm. This reinforces our original claim that C-FOREST is generally applicable to a wide range of sampling based motion planning algorithms.