  Consider the finite state graph that results from a simple, discrete,
dynamical system in which an agent moves in a rectangular grid picking up and
dropping packages. Can the state variables of the problem, namely, the agent
location and the package locations, be recovered from the structure of the
state graph alone without having access to information about the objects, the
structure of the states, or any background knowledge? We show that this is
possible provided that the dynamics is learned over a suitable
domain-independent first-order causal language that makes room for objects and
relations that are not assumed to be known. The preference for the most compact
representation in the language that is compatible with the data provides a
strong and meaningful learning bias that makes this possible. The language of
structured causal models (SCMs) is the standard language for representing
(static) causal models but in dynamic worlds populated by objects, first-order
causal languages such as those used in "classical AI planning" are required.
While "classical AI" requires handcrafted representations, similar
representations can be learned from unstructured data over the same languages.
Indeed, it is the languages and the preference for compact representations in
those languages that provide structure to the world, uncovering objects,
relations, and causes.
