Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.
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Transcript of Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.
![Page 1: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/1.jpg)
Part 2 of 3: Bayesian Network and Dynamic Bayesian Network
![Page 2: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/2.jpg)
References and Sources of Figures
• Part 1:Stuart Russell and Peter Norvig, Artificial Intelligence A Modern Approach, 2nd ed., Prentice Hall, Chapter 13
• Part 2:Stuart Russell and Peter Norvig, Artificial Intelligence A Modern Approach, 2nd ed., Prentice Hall, Chapters 14, 15 & 25
Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic Robotics, Chapters 2 & 7
• Part 3:Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic Robotics, Chapter 2
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Bayesian Network
• A data structure to represent dependencies among variables
• A directed graph in which each node is annotated with quantitative probability information
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An Example of a Simple Bayesian Network
Cavity
Toothache Catch
Weather
Weather is independent of the other three variables.Toothache and Catch are conditionally independent, given Cavity.
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Bayesian Network
Full specifications:1. A set of random variables makes up the nodes of the
network
2. A set of directed links or arrows connects pairs of nodes.
parentchild
3. Each node Xi has a conditional probability distribution P(Xi|Parents(Xi)) that quantifies the effect of the parents on the node
4. Directed acyclic graph (DAG), i.e. no directed cycles
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Implementation of BN
• Open source BN software: Java Bayes
• Commercial BN software: MS Bayes, Netica
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Teaching and Research Tools in Academic Environments
GeNIe
• Developed at the Decision Systems Laboratory, University of Pittsburgh
• Runs only on Windows computers
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Demo
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An Example of Bayesian Network
Burglary Lightning
Alarm
JohnCalls MaryCalls
Demo using GeNIe
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An Application of Bayesian Network
Horvitz, et. al. (Microsoft Research) The Lumiere Project: Bayesian User Modeling for Inferring the Goals and Needs of Software Usersftp://ftp.research.microsoft.com/pub/ejh/lum.pdf
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An Application of Bayesian Network
Horvitz, et. al. (Microsoft Research) The Lumiere Project: Bayesian User Modeling for Inferring the Goals and Needs of Software Usersftp://ftp.research.microsoft.com/pub/ejh/lum.pdf
![Page 12: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/12.jpg)
Dynamic Bayesian Network:Probabilistic Reasoning Over Time
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Basic Ideas
• The process of change can be viewed as a series of snapshots
• Each snapshot (called a time slice) describes the state of the world at a particular time
• Each time slice contains a set of random variables, some of which are observable and some of which are not
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DBN with Evolution of States, Controls, and Measurements
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Terminology
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State
• Environments are characterized by state
• Think of the state as the collection of all aspects of the robot and its environment that can impact the future
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StateExamples:• the robot's pose (location and orientation)• variables for the configuration of the robot's actuators
(e.g. joint angles)• robot velocity and velocities of its joints• location and features of surrounding objects in the
environment• location and velocities of moving objects and people• whether or not a sensor is broken, the level its battery
charge
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State
denoted as: x
xt : the state at time t
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Environment measurement data
• evidence
• information about a momentary state of the environment
• Examples:– camera images– range scans
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Environment measurement data
Denoted as: z
zt : the measurement data at time t
denotes the set of all
measurements acquired
from time t1 to time t2
211121...,,,, 21: tttttt zzzzz
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Control data• convey information regarding change of state in
the environment• related to actuation
• Examples:– velocity of a robot (suggests the robot's pose after
executing a motion command)– odometry (measure of the effect of a control action)
![Page 23: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/23.jpg)
Control dataDenoted as: u
ut : the change of state in the time interval (t-1;t]
denotes a sequence of control data from
time t1 to time t2
211121...,,,, 21: tttttt uuuuu
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Scenario
• a mobile robot uses its camera to detect the state of the door (open or closed)
• camera is noisy:– if the door is in fact open:
• the probability of detecting it open is 0.6
– if the door is in fact closed:• the probability of detecting it closed is 0.8
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Scenario
• the robot can use its manipulator to push open the door
• if the door is in fact closed:• the probability of robot opening it is 0.8
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Scenario
• At time t0, the probability of the door being open is 0.5
• Suppose at t1 the robot takes no control action but it senses an open door, what is the probability of the door is open?
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Scenario
• Using Bayes Filter, we will see that:
– at time t1 the probability of the door is open is:• 0.75 after taking a measurement
– at time t2 the probability of the door is open is• ~ 0.984 after the robot pushes open the door and
takes another measurement
![Page 28: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/28.jpg)
DBN with Evolution of States, Controls, and Measurements for the Mobile Robot Example
xt : state of the door (open or closed) at time tut : control data (robot's manipulator pushes open or does nothing) at time tzt : evidence or measurement by sensors at time t
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Demo using GeNIe
![Page 30: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/30.jpg)
Basic Idea of the Algorithm of Bayes Filter
Bayes_filter(bel(xt-1), ut, zt):
for all xt do
endfor
return bel(xt)
Predict xt after exerting ut
Update belief of xt after making a measurement zt
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The subsequent slides explain how the Bayes' rule is applied in this filter.
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Inference in Temporal Models
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Basic Inference Tasks in Probabilistic Reasoning
• Filtering or monitoring
• Prediction
• Smoothing or hindsight
• Most likely explanation
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Filtering, or monitoring
• The task of computing the belief state—the posterior distribution over the current state, given all evidence to date
• i.e. compute P(Xt|z1:t)
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Prediction
• The task of computing the posterior distribution over the future state, given all evidence to date
• i.e. compute P(Xt+k|z1:t), for some k > 0or P(Xt+1|z1:t) for one-step prediction
![Page 36: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/36.jpg)
Smoothing, or hindsight
• The task of computing the posterior distribution over the past state, given all evidence to date
• i.e. compute P(Xk|z1:t), for some 0 k < t
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Most likely explanation
• Given a sequence of observations, we want to find the sequence of states that is most likely to have generated those observations
• i.e. compute
)|(maxarg :1;1:1 ttx zxPt
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Review
Bayes' rule
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![Page 39: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/39.jpg)
Review
ConditioningFor any sets of variables Y and Z,
Read as: Y is conditioned on the variable Z.
Often referred to as Theorem of total probability.
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![Page 40: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/40.jpg)
DBN with Evolution of States and Measurements—To be used in the explanation of filtering and prediction tasks in
the subsequent slides
xt : state of the door (open or closed) at time tzt : evidence or measurement by sensors at time t
![Page 41: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/41.jpg)
The Task of Filtering
• To update the belief state• By computing:
from the current state
)|( 1:11 tt zXP
)|( :1 tt zXP
![Page 42: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/42.jpg)
The Task of Filtering
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![Page 43: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/43.jpg)
The Task of Filtering
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![Page 44: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/44.jpg)
The Task of Filtering
evidenceofpropertyMarkovzXPXzP
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![Page 45: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/45.jpg)
The Task of Filtering
evidenceofpropertyMarkovzXPXzP
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The probability distribution of the state at t+1, given the measurements (evidence) to datei.e. it is a one-step prediction for the next state
![Page 46: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/46.jpg)
The Task of Filtering
By conditioning on the current state xt, this term becomes:
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![Page 47: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/47.jpg)
The Task of Filtering
• To update the belief state• By computing:
from the current state
),|( :11:11 ttt uzXP
),|( 1:1:1 ttt uzXP
![Page 48: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/48.jpg)
The Task of Filtering
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![Page 49: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/49.jpg)
The Task of Filtering
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The robot's belief state: The posterior over the state variables X at time t+1 is calculated recursively from the corresponding estimate one time step earlier
![Page 50: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/50.jpg)
The Task of Filtering
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Most modern localization algorithms use one of two representations of the robot's belief: Kalman filter and particle filter called Monte Carol localization (MCL).
![Page 51: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/51.jpg)
The Task of Filtering
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Kalman filter:represent this belief state as a single multivariate Gaussian
![Page 52: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/52.jpg)
The Task of Filtering
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particle filter:represent this belief state as a collection of particles that correspond to states
![Page 53: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/53.jpg)
The Task of Filtering in Localization
• To update the belief state• By computing:
from the current state
),,|( :11:11 muzXP ttt
),,|( 1:1:1 muzXP ttt
m
shaded nodes: information that is givenwhite nodes: information you want to find
![Page 54: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/54.jpg)
The Task of Filtering in Mapping
• To update the belief state• By computing:
from the current state
),|,( :11:11 ttt uzmXP
),|,( 1:1:1 ttt uzmXP
m
shaded nodes: information that is givenwhite nodes: information you want to find
![Page 55: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/55.jpg)
The Task of Filtering
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![Page 56: Part 2 of 3: Bayesian Network and Dynamic Bayesian Network.](https://reader035.fdocuments.in/reader035/viewer/2022081506/56649d4e5503460f94a2e5e9/html5/thumbnails/56.jpg)
An Example Graphical Solution of Extended Kalman Filter
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An Example Graphical Solution of Particle Filter Example
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An Example Implementation of EKF