unit iv: uncertain knowledge and reasoning. uncertain knowledge and reasoning uncertainty review of...

UNIT IV: UNCERTAIN KNOWLEDGE AND

REASONING

UNIT IV: UNCERTAIN KNOWLEDGE AND

REASONING

Uncertain Knowledge and ReasoningUncertain Knowledge and Reasoning

Uncertainty Review of Probability Probabilistic Reasoning Bayesian networks Inferences in Bayesian networks Temporal Models Hidden Markov Models

IntroductionIntroduction

The world is not a well-defined place.There is uncertainty in the facts we know:

What’s the temperature? Imprecise measures Is Bush a good president? Imprecise definitions Where is the pit? Imprecise knowledge

There is uncertainty in our inferences If I have a blistery, itchy rash and was gardening all

weekend I probably have poison ivyPeople make successful decisions all the time

anyhow.

Sources of UncertaintySources of Uncertainty Uncertain data

missing data, unreliable, ambiguous, imprecise representation, inconsistent, subjective, derived from defaults, noisy…

Uncertain knowledge Multiple causes lead to multiple effects Incomplete knowledge of causality in the domain Probabilistic/stochastic effects

Uncertain knowledge representation restricted model of the real system limited expressiveness of the representation mechanism

inference process Derived result is formally correct, but wrong in the real world New conclusions are not well-founded (eg, inductive reasoning) Incomplete, default reasoning methods

Reasoning Under UncertaintyReasoning Under UncertaintySo how do we do reasoning under uncertainty and

with inexact knowledge? heuristics

ways to mimic heuristic knowledge processing methods used by experts

empirical associations experiential reasoning based on limited observations

probabilities objective (frequency counting) subjective (human experience )

Decision making with uncertaintyDecision making with uncertainty Rational behavior:

For each possible action, identify the possible outcomes Compute the probability of each outcome Compute the utility of each outcome Compute the probability-weighted (expected) utility over

possible outcomes for each action Select the action with the highest expected utility (principle

of Maximum Expected Utility)

Probability theoryProbability theory Random variables

Domain

Atomic event: complete specification of state

Prior probability: degree of belief without any other evidence

Joint probability: matrix of combined probabilities of a set of variables

Alarm, Burglary, Earthquake Boolean (like these), discrete,

continuous

Alarm=True Burglary=True Earthquake=Falsealarm burglary earthquake

P(Burglary) = .1

P(Alarm, Burglary) =alarm ¬alarm

burglary .09 .01

¬burglary .1 .8

Probability theory (cont.)Probability theory (cont.)

Conditional probability: probability of effect given causes

Computing conditional probs: P(a | b) = P(a b) / P(b) P(b): normalizing constant

Product rule: P(a b) = P(a | b) P(b)

P(burglary | alarm) = .47P(alarm | burglary) = .9

P(burglary | alarm) = P(burglary alarm) / P(alarm) = .09 / .19 = .47

P(burglary alarm) = P(burglary | alarm) P(alarm) = .47 * .19 = .09

IndependenceIndependenceWhen two sets of propositions do not affect each

others’ probabilities- independent, and can easily compute their joint and conditional probability: Independent (A, B) if P(A B) = P(A) P(B), P(A | B) = P(A)

For example, {moon-phase, light-level} might be independent of {burglary, alarm, earthquake}

We need a more complex notion of independence, and methods for reasoning about these kinds of relationships

Baye’s RuleBaye’s Rule

P(b | a) = P(a | b) P(b) / P(a)

Bayes Example: Diagnosing MeningitisBayes Example: Diagnosing Meningitis

Suppose we know that Stiff neck is a symptom in 50% of meningitis cases Meningitis (m) occurs in 1/50,000 patients Stiff neck (s) occurs in 1/20 patients

Then P(s|m)= 0.5, P(m) = 1/50000, P(s) = 1/20 P(m|s)= (P(s|m) P(m))/P(s) = (0.5 x 1/50000) / 1/20 = .0002

So we expect that one in 5000 patients with a stiff neck to have meningitis.

Conditional independenceConditional independenceAbsolute independence:

A and B are independent if P(A B) = P(A) P(B); equivalently, P(A) = P(A | B) and P(B) = P(B | A)

A and B are conditionally independent given C if P(A B | C) = P(A | C) P(B | C)

This lets us decompose the joint distribution: P(A B C) = P(A | C) P(B | C) P(C)

Moon-Phase and Burglary are conditionally independent given Light-Level

Conditional independence is weaker than absolute independence, but still useful in decomposing the full joint probability distribution

Probabilistic Reasoning

OutlineOutline

Introducing Bayesian NetworksConstructing Bayesian NetworksRepresenting Bayesian NetworksInference in Bayesian Networks

Bayesian networksBayesian networks A simple, graphical notation for conditional independence assertions

and hence for compact specification of full joint distributions Syntax:

a set of nodes, one per variable a directed, acyclic graph (link ≈ "directly influences") a conditional distribution for each node given its parents:

P (Xi | Parents (Xi))

In the simplest case, conditional distribution represented as a conditional probability table (CPT) giving the distribution of Xi for each combination of parent values

ExampleExample Topology of network encodes conditional independence assertions:

Weather is independent of the other variables Toothache and Catch are conditionally independent given Cavity

ExampleExample I'm at work, neighbor John calls to say my alarm is ringing, but

neighbor Mary doesn't call. Sometimes it's set off by minor earthquakes. Is there a burglar?

Variables: Burglary, Earthquake, Alarm, JohnCalls, MaryCalls Network topology reflects "causal" knowledge:

A burglar can set the alarm off An earthquake can set the alarm off The alarm can cause Mary to call The alarm can cause John to call

Example contd.Example contd.

SemanticsSemanticsThe full joint distribution is defined as the product of the local

conditional distributions:

P (X1, … ,Xn) = πi = 1 P (Xi | Parents(Xi))

e.g., P(j m a b e)

= P (j | a) P (m | a) P (a | b, e) P (b) P (e)

Constructing Bayesian networksConstructing Bayesian networks 1. Choose an ordering of variables X1, … ,Xn

2. For i = 1 to n add Xi to the network select parents from X1, … ,Xi-1 such that

P (Xi | Parents(Xi)) = P (Xi | X1, ... Xi-1) Parents are the variables that ‘directly influence’ Xi

This choice of parents guarantees:

P (X1, … ,Xn) = πi =1 P (Xi | X1, … , Xi-1)

= πi =1P (Xi | Parents(Xi))

The ordering of variables is crucial Causal models generally give good orderings

If the ordering is chosen wrongly, typically the BN will be more complex than necessary

(by construction)(chain rule)

Conditional Independence in Bayesian Networks

Conditional Independence in Bayesian Networks

Conditional upon its parents, a node is independent of all other nodes in the network except its descendants

Independence in Bayesian NetworksIndependence in Bayesian NetworksThe Markov Blanket of a node consists of its

parents, its children, and the other parents of those children

Conditional upon its Markov Blanket, a node is independent of all other nodes

Representing Bayesian NetworksRepresenting Bayesian NetworksRepresenting the dependency relationship graph is

relatively straightforward Use any standard graph representation

Representing the form of the dependencies is less obvious If there are k parents, the Contitional Probability Table size is 2k

More compact ways of representing the CPT are highly desirable

Inference in Bayesian NetworksInference in Bayesian Networks

In theory, the conditional probability of some output query of a Bayesian network can be computed from the inputs Using classical probabilistic arithmetic

Unfortunately, the time complexity is O(2n) In fact, the time complexity of any exact solution for arbitrary Bayesian

networks must be O(2n) Because Boolean satisfaction is a special case As with Boolean logic, some special networks are faster A Polytree has at most one path between any pair of nodes

Exact probabilistic inference in polytrees can be computed in linear time

Exact Inference vs SamplingExact Inference vs Sampling

In general, exact inference in Bayesian networks is too expensive

The alternative is to use Monte Carlo (sampling) methods

Direct SamplingDirect Sampling

Sampling is relatively straightforward when there is no evidence relating to the network

Generation of samples from a known probability distribution.

Using a simple non-deterministic algorithm: Sample from any of the nodes without parents according to their distributions Sample from any of the children, conditional upon the sample results already

obtained for the parents

As the number of samples increases, the sampled frequency of each event converges toward its expected value

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling ExampleDirect Sampling Example

Direct Sampling with EvidenceDirect Sampling with Evidence

The simplest approach is to use direct sampling, but reject all samples that conflict with the evidence However the proportion of successful samples is proportional to

the probability of the evidence The probability of the evidence decreases exponentially with the

number of evidence variables Method is unusable with a significant number of evidence

variables

Likelihood weightingLikelihood weighting

An alternative is to sample as before, except that the evidence variables are not sampled The probability of the evidence, given the other variables, is

computed instead This probability is used to weight the sample More efficient than rejection sampling, because all samples are

used May still be slow, if the evidence is unlikely (because the weight

of each sample is low)

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0 * 0.1

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0 * 0.1

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0 * 0.1

Likelihood Weighting ExampleLikelihood Weighting Example

w = 1.0 * 0.1 * 0.99

Markov Chain Monte CarloMarkov Chain Monte Carlo

Prev 2 alg- generate event from scratch.MCMC- generate event by making random change to

preceding event.Algorithm:

Generate an initial sample Perturb the initial sample by randomly sampling one of the non-

evidence variables, conditional upon its Markov blanket Repeat

Sample frequency converges in the limit to the posterior distribution (under fairly weak assumptions)

MCMC ExampleMCMC ExampleWith evidence ‘Sprinkler, WetGrass’, there are four

states

MCMC ExampleMCMC ExampleAlgorithm is essentially “wander about a bit until the

probability estimates stabilise”Markov Blankets

For Cloudy Sprinkler, Rain

For Rain Cloudy, Sprinkler, WetGrass

SummarySummary Introducing Bayesian Networks Constructing Bayesian Networks Representing Bayesian Networks Exact inference

Polynomial time on polytrees, NP-hard on general graphs very sensitive to topology

Approximate inference by Likelihood weighting poor when there is much evidence LW, MCMC generally insensitive to topology Convergence can be very slow with probabilities close to 1 or 0 Can handle arbitrary combinations of discrete and continuous variables

Temporal ModelsHidden Markov Models

Temporal Probabilistic AgentTemporal Probabilistic AgentTemporal Probabilistic AgentTemporal Probabilistic Agent

environmentagent

?

sensors

actuators

t1, t2, t3, …

Time and uncertaintyTime and uncertainty The world changes; we need to track and predict it Probabilistic reasoning for dynamic world. Repairing car-diagnosis Vs treating diabetic patient

Basic idea: copy state and evidence variables for each time step

States and ObservationsStates and Observations Process of change is viewed as series of

snapshots, each describing the state of the world at a particular time

Each time slice involves a set or random variables indexed by t:

1. the set of unobservable state variables Xt

2. the set of observable evidence variable Et

The observation at time t is Et = et for some set of values et

The notation Xa:b denotes the set of variables from Xa to Xb

Markov processes (Markov chains)Markov processes (Markov chains)

Simplifying assumptions and notations

Simplifying assumptions and notations

States are our “events”.(Partial) states can be measured at reasonable time

intervals. Xt unobservable state variables at t.

Et (“evidence”) observable state variables at t.

Vm:n : Variables Vm, Vm+1,…,Vn

Stationary, Markovian (transition model)

Stationary, Markovian (transition model)

Stationary: the laws of probability don’t change over time

Markovian: current unobservalbe state depends on a finite number of past states First-order: current state depends only on the previous

state, i.e.: P(Xt|X0:t-1)=P(Xt|Xt-1) Second-order: etc., etc.

Observable variables (the sensor model)

Observable variables (the sensor model)

Observable variables depend only on the current state (by definition, essentially), these are the “sensors”.

The current state causes the sensor values.P(Et|X0:t,E0:t-1)=P(Et|Xt)

Start it up (the prior probability model)

Start it up (the prior probability model)

What is P(X0)?

Given: Transition model: P(Xt|Xt-1)

Sensor model: P(Et|Xt)

Prior probability: P(X0)

Then we can specify complete joint distribution:At time t, the joint is completely determined:P(X0,X1,…Xt,E1,…,Et) =

P(X0) • ∏i t P(Xi|Xi-1)P(Ei|Xi)

Inference tasksInference tasks

Inference TasksInference Tasks Filtering or monitoring: P(Xt|e1,…,et)

computing current belief state, given all evidence to date What is the probability that it is raining today, given all the umbrella

observations up through today?

Prediction: P(Xt+k|e1,…,et) computing prob. of some future state

What is the probability that it will rain the day after tomorrow, given all the umbrella observations up through today?

Smoothing: P(Xk|e1,…,et) computing prob. of past state (hindsight) What is the probability that it rained yesterday, given all the umbrella

observations through today?

Most likely explanation: arg maxx1,..xtP(x1,…,xt|e1,…,et) given sequence of observation, find sequence of states that is most likely to

have generated those observations.

FilteringFilteringWe use recursive estimation to compute

P(Xt+1 | e1:t+1) as a function of et+1 and P(Xt | e1:t)

This leads to a recursive definitionf1:t+1 = FORWARD(f1:t:t,et+1)

Filtering exampleFiltering example

SmoothingSmoothingCompute P(Xk|e1:t) for 0<= k < tUsing a backward message

bk+1:t = P(Ek+1:t | Xk), we obtain

P(Xk|e1:t) = f1:kbk+1:t

This leads to a recursive definitionBk+1:t = BACKWARD(bk+2:t,ek+1:t)

SmoothingSmoothing

Smoothing exampleSmoothing example

Most likely explanationMost likely explanation

Viterbi exampleViterbi example

Markov ModelsMarkov ModelsLike the Bayesian network, a Markov model is a graph

composed of states that represent the state of a process edges that indicate how to move from one state to another

where edge is annotated with a probability indicating the likelihood of taking that transition

Unlike the Bayesian network, the Markov model’s nodes are meant to convey temporal states

An ordinary Markov model contains states that are observable so that the transition probabilities are the only mechanism that determines the state transitions We will find a more useful version of the Markov model to be

the hidden Markov model

HMMHMMMost interesting AI problems cannot be solved by a

Markov model because there are unknown states in our real world problems in speech recognition, we can build a Markov model to predict

the next word in an utterance by using the probabilities of how often any given word follows another how often does “lamb” follow “little”?

A hidden Markov model (HMM) is a Markov model where the probabilities are actually probabilistic functions that are based in part on the current state, which is hidden (unknown or unobservable) determining which transition to take will require additional

knowledge than merely the state transition probabilities

Example: Speech RecognitionExample: Speech Recognition We have observations, the acoustic signal But hidden from us is intention that created the signal

For instance, at time t1, we know what the signal looks like in terms of data, but we don’t know what the intended sound was (the phoneme or letter or word)

The goal in speech recognition is to identify the actual utterance (in terms of phonetic units or words) but the phonemes/words are hidden to us

We add to our model hidden (unobservable) states and appropriate probabilities for transitions the observables are not states in our network, but transition links the hidden states are the elements of the utterance (e.g.,

phonemes), which is what we are trying to identify we must search the HMM to determine what hidden state

sequence best represents the input utterance

Hidden Markov modelsHidden Markov models

Simplest Dynamic Bayesian Network – HMMOne discrete hidden node one discrete/continuous observed node per slicePossible values of hidden var- possible states of

world- eg- Raint

if more variables – combine all var into one Megavariable