Variable Elimination 1


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1 Variable Elimination 1
2 Inference Exact inference Enumeration Variable elimination Junction trees and belief propagation Approximate inference Loopy belief propagation Sampling methods: likelihood weighting, Markov chain Monte Carlo Variational approximation 2
3 Inference tasks Simple queries: compute posterior marginal P(X i E =e) e.g., P(NoGas Gauge = empty, Lights =on, Starts = false) Conjunctive queries: P(X i,x j E =e) = P(X i E =e)p(x j X i,e=e) Optimal decisions: decision networks include utility information; probabilistic inference required for P(outcome action,evidence) Value of information: which evidence to seek next? Sensitivity analysis: which probability values are most critical? Explanation: why do I need a new starter motor? 3
4 Inference by enumeration Slightly intelligent way to sum out variables from the joint without actually constructing its explicit representation Simple query on the burglary network: P(B j, m) = P(B,j, m)/p(j, m) = αp(b, j,m) = α Σ e Σ a P(B,e, a,j, m) B J A E M Rewrite full joint entries using product of CPT entries: P(B j, m) = α Σ e Σ a P(B)P(e)P(a B,e)P(j a)p(m a) = αp(b) Σ e P(e) Σ a P(a B,e)P(j a)p(m a) Recursive depthfirst enumeration: O(n) space, O(d n ) time 4
5 Enumeration algorithm function EnumerationAsk(X,e,bn) returns a distribution over X inputs: X, the query variable e, observed values for variables E bn, a Bayesian network with variables {X} E Y Q(X ) a distribution over X, initially empty for each value x i of X do extend e with value x i for X Q(x i ) EnumerateAll(Vars[bn],e) return Normalize(Q(X )) function EnumerateAll(vars,e) returns a real number if Empty?(vars) then return 1.0 Y First(vars) if Y has value y in e then return P(y P a(y )) EnumerateAll(Rest(vars), e) else return y P(y Pa(Y )) EnumerateAll(Rest(vars),e y ) where e y is e extended with Y = y 5
6 Evaluation tree P(b).001 P(e).002 P( e).998 P(a b,e) P( a b,e) P(a b, e) P( a b, e) P(j a).90 P(j a).05 P(j a).90 P(j a).05 P(m a) P(m a) P(m a) P(m a) Enumeration is inefficient: repeated computation e.g., computes P(j a)p(m a) for each value of e 6
7 Inference by variable elimination Variable elimination: carry out summations righttoleft, storing intermediate results (factors) to avoid recomputation P(B j, m) = αp(b) } {{ } B Σ e P(e) }{{} E Σ a P(a B,e) }{{} A P(j a) } {{ } J = αp(b)σ e P(e)Σ a P(a B,e)P(j a)f M (a) = αp(b)σ e P(e)Σ a P(a B,e)f J (a)f M (a) = αp(b)σ e P(e)Σ a f A (a,b,e)f J (a)f M (a) = αp(b)σ e P(e)f ĀJM (b,e) (sum out A) = αp(b)f ĒĀJM (b) (sum out E) = αf B (b) f ĒĀJM (b) P(m a) } {{ } M 7
8 Variable elimination: Basic operations Summing out a variable from a product of factors: move any constant factors outside the summation add up submatrices in pointwise product of remaining factors Σ x f 1 f k = f 1 f i Σ x f i+1 f k = f 1 f i f X assuming f 1,...,f i do not depend on X Pointwise product of factors f 1 and f 2 : f 1 (x 1,...,x j, y 1,...,y k ) f 2 (y 1,...,y k, z 1,...,z l ) = f(x 1,...,x j,y 1,...,y k,z 1,...,z l ) E.g., f 1 (a,b) f 2 (b,c) = f(a, b,c) 8
9 Variable elimination algorithm function EliminationAsk(X,e,bn) returns a distribution over X inputs: X, the query variable e, evidence specified as an event bn, a belief network specifying joint distribution P(X 1,..., X n ) factors [ ]; vars Reverse(Vars[bn]) for each var in vars do factors [MakeFactor(var, e) factors] if var is a hidden variable then factors SumOut(var, factors) return Normalize(PointwiseProduct(factors)) 9
10 Irrelevant variables Consider the query P(JohnCalls Burglary = true) P(J b) = αp(b) P(e) P(a b,e)p(j a) P(m a) e a m Sum over m is identically 1; M is irrelevant to the query B J A E M Thm 1: Y is irrelevant unless Y Ancestors({X} E) Here, X = JohnCalls, E = {Burglary}, and Ancestors({X} E) = {Alarm, Earthquake} so MaryCalls is irrelevant (Compare this to backward chaining from the query in Horn clause KBs) 10
11 Irrelevant variables contd. Defn: moral graph of Bayes net: marry all parents and drop arrows Defn: A is mseparated from B by C iff separated by C in the moral graph Thm 2: Y is irrelevant if mseparated from X by E B E For P(JohnCalls Alarm = true), both Burglary and Earthquake are irrelevant J A M 11
12 L L L L Complexity of exact inference Singly connected networks (or polytrees): any two nodes are connected by at most one (undirected) path time and space cost of variable elimination are O(d k n) Multiply connected networks: can reduce 3SAT to exact inference NPhard equivalent to counting 3SAT models #Pcomplete A B C D 1. A v B v C 2. C v D v A B v C v D AND 12
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