Here we consider, in the context of causal inference, the basic question: 'what can be estimated from data?'. We call this the question of estimability. We consider the usual definition adopted in the causal inference literature -- identifiability -- in a general mathematical setting and show why it is an inadequate formal translation of the concept of estimability. Despite showing that identifiability implies the existence of a Fisher-consistent estimator, we show that this estimator may be discontinuous, and hence unstable, in general. The difficulty arises because the causal inference problem is in general an ill-posed inverse problem. Inverse problems have three conditions which must be satisfied in order to be considered well-posed: existence, uniqueness, and stability of solutions. We illustrate how identifiability corresponds to the question of uniqueness; in contrast, we take estimability to mean satisfaction of all three conditions, i.e. well-posedness. It follows that mere identifiability does not guarantee well-posedness of a causal inference procedure, i.e. estimability, and apparent solutions to causal inference problems can be essentially useless with even the smallest amount of imperfection. These concerns apply, in particular, to causal inference approaches that focus on identifiability while ignoring the additional stability requirements needed for estimability.
This paper is concerned with estimating the effects of actions from causal assumptions, represented concisely as a directed graph, and statistical knowledge, given as a probability distribution. We provide a necessary and sufficient graphical condition for the cases when the causal effect of an arbitrary set of variables on another arbitrary set can be determined uniquely from the available information, as well as an algorithm which computes the effect whenever this condition holds. Furthermore, we use our results to prove completeness of do-calculus [Pearl, 1995], and a version of an identification algorithm in [Tian, 2002] for the same identification problem. Finally, we derive a complete characterization of semi-Markovian models in which all causal effects are identifiable.