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Register a new userQuery DAGs: A Practical Paradigm for Implementing Belief-Network Inference
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We describe a new paradigm for implementing inference in belief networks, which consists of two steps: (1) compiling a belief network into an arithmetic expression called a Query DAG (Q-DAG); and (2) answering queries using a simple evaluation algorithm. Each node of a Q-DAG represents a numeric operation, a number, or a symbol for evidence. Each leaf node of a Q-DAG represents the answer to a network query, that is, the probability of some event of interest. It appears that Q-DAGs can be generated using any of the standard algorithms for exact inference in belief networks (we show how they can be generated using clustering and conditioning algorithms). The time and space complexity of a Q-DAG generation algorithm is no worse than the time complexity of the inference algorithm on which it is based. The complexity of a Q-DAG evaluation algorithm is linear in the size of the Q-DAG, and such inference amounts to a standard evaluation of the arithmetic expression it represents. The intended value of Q-DAGs is in reducing the software and hardware resources required to utilize belief networks in on-line, real-world applications. The proposed framework also facilitates the development of on-line inference on different software and hardware platforms due to the simplicity of the Q-DAG evaluation algorithm. Interestingly enough, Q-DAGs were found to serve other purposes: simple techniques for reducing Q-DAGs tend to subsume relatively complex optimization techniques for belief-network inference, such as network-pruning and computation-caching.
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In this chapter, we propose a new practical codification of the elements of the Venn diagram in order to easily manipulate the focal elements. In order to reduce the complexity, the eventual constraints must be integrated in the codification at the beginning. Hence, we only consider a reduced hyper power set $D_r^Theta$ that can be $2^Theta$ or $D^Theta$. We describe all the steps of a general belief function framework. The step of decision is particularly studied, indeed, when we can decide on intersections of the singletons of the discernment space no actual decision functions are easily to use. Hence, two approaches are proposed, an extension of previous one and an approach based on the specificity of the elements on which to decide. The principal goal of this chapter is to provide practical codes of a general belief function framework for the researchers and users needing the belief function theory.
Inference and decision making under uncertainty are key processes in every autonomous system and numerous robotic problems. In recent years, the similarities between inference and decision making triggered much work, from developing unified computational frameworks to pondering about the duality between the two. In spite of these efforts, inference and control, as well as inference and belief space planning (BSP) are still treated as two separate processes. In this paper we propose a paradigm shift, a novel approach which deviates from conventional Bayesian inference and utilizes the similarities between inference and BSP. We make the key observation that inference can be efficiently updated using predictions made during the decision making stage, even in light of inconsistent data association between the two. We developed a two staged process that implements our novel approach and updates inference using calculations from the precursory planning phase. Using autonomous navigation in an unknown environment along with iSAM2 efficient methodologies as a test case, we benchmarked our novel approach against standard Bayesian inference, both with synthetic and real-world data (KITTI dataset). Results indicate that not only our approach improves running time by at least a factor of two while providing the same estimation accuracy, but it also alleviates the computational burden of state dimensionality and loop closures.
In this paper we treat both forms of probabilistic inference, estimating marginal probabilities of the joint distribution and finding the most probable assignment, through a unified message-passing algorithm architecture. We generalize the Belief Propagation (BP) algorithms of sum-product and max-product and tree-rewaighted (TRW) sum and max product algorithms (TRBP) and introduce a new set of convergent algorithms based on convex-free-energy and Linear-Programming (LP) relaxation as a zero-temprature of a convex-free-energy. The main idea of this work arises from taking a general perspective on the existing BP and TRBP algorithms while observing that they all are reductions from the basic optimization formula of $f + sum_i h_i$ where the function $f$ is an extended-valued, strictly convex but non-smooth and the functions $h_i$ are extended-valued functions (not necessarily convex). We use tools from convex duality to present the primal-dual ascent algorithm which is an extension of the Bregman successive projection scheme and is designed to handle optimization of the general type $f + sum_i h_i$. Mapping the fractional-free-energy variational principle to this framework introduces the norm-product message-passing. Special cases include sum-product and max-product (BP algorithms) and the TRBP algorithms. When the fractional-free-energy is set to be convex (convex-free-energy) the norm-product is globally convergent for estimating of marginal probabilities and for approximating the LP-relaxation. We also introduce another branch of the norm-product, the convex-max-product. The convex-max-product is convergent (unlike max-product) and aims at solving the LP-relaxation.
The booming online e-commerce platforms demand highly accurate approaches to segment queries that carry the product requirements of consumers. Recent works have shown that the supervised methods, especially those based on deep learning, are attractive for achieving better performance on the problem of query segmentation. However, the lack of labeled data is still a big challenge for training a deep segmentation network, and the problem of Out-of-Vocabulary (OOV) also adversely impacts the performance of query segmentation. Different from query segmentation task in an open domain, e-commerce scenario can provide external documents that are closely related to these queries. Thus, to deal with the two challenges, we employ the idea of distant supervision and design a novel method to find contexts in external documents and extract features from these contexts. In this work, we propose a BiLSTM-CRF based model with an attention module to encode external features, such that external contexts information, which can be utilized naturally and effectively to help query segmentation. Experiments on two datasets show the effectiveness of our approach compared with several kinds of baselines.
Although there are many approaches to implement intrinsically motivated artificial agents, the combined usage of multiple intrinsic drives remains still a relatively unexplored research area. Specifically, we hypothesize that a mechanism capable of quantifying and controlling the evolution of the information flow between the agent and the environment could be the fundamental component for implementing a higher degree of autonomy into artificial intelligent agents. This paper propose a unified strategy for implementing two semantically orthogonal intrinsic motivations: curiosity and empowerment. Curiosity reward informs the agent about the relevance of a recent agent action, whereas empowerment is implemented as the opposite information flow from the agent to the environment that quantifies the agents potential of controlling its own future. We show that an additional homeostatic drive is derived from the curiosity reward, which generalizes and enhances the information gain of a classical curious/heterostatic reinforcement learning agent. We show how a shared internal model by curiosity and empowerment facilitates a more efficient training of the empowerment function. Finally, we discuss future directions for further leveraging the interplay between these two intrinsic rewards.
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