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Learning Models of Relational Stochastic Processes. Sumit Sanghai. P2. P1. P3. V1. A1. A2. Motivation. Features of real-world domains Multiple classes, objects, relations. P2. ?. P1. P3. V1. A1. A2. ?. ?. Motivation. Features of real-world domains - PowerPoint PPT Presentation
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Learning Models of Relational Stochastic Processes
Sumit Sanghai
Motivation
• Features of real-world domains – Multiple classes, objects, relations
P2P1
P3
A2A1
V1
Motivation
• Features of real-world domains – Multiple classes, objects, relations– Uncertainty
P2P1
P3
A2A1
V1
?
??
Motivation
• Features of real-world domains – Multiple classes, objects, relations– Uncertainty– Changes with time
P2P1
P3
A2A1
V1 P4A3
P5
P6
Relational Stochastic Processes
• Features– Multiple classes, objects, relations– Uncertainty– Change over time
• Examples: Social networks, molecular biology, user activity modeling, web, plan recognition, …
• Growth inherent or due to explicit actions • Most large datasets are gathered over time
– Explore dependencies over time– Predict future
Manufacturing Process
Manufacturing Process
Paint(A, blue)
Manufacturing Process
Paint(A, blue) Bolt(B, C)
Manufacturing Process
Paint(A, blue) Bolt(B, C)
A.colt t + 1A.col Predblue
redredblue blue
0.10.9
0.95redblue 0.05
Why are they different?
• Modeling object, relationships modification, creation and deletion
• Modeling actions (preconditions/effects), activities, plans
• Can’t just throw ``time’’ into the mix• Summarizing object information• Learning can be made easier by concentrating
on temporal dependencies• Sophisticated inference techniques like particle
filtering may be applicable
Outline
• Background: Dynamic Bayes Nets
• Dynamic Probabilistic Relational Models
• Inference in DPRMs
• Learning with Dynamic Markov Logic Nets
• Future Work
Dynamic Bayesian Networks
• DBNs model change in uncertain variables over time
• Each time slice consists of state/observation variables
• Bayesian network models dependency of current on previous time slice(s)
• At each node a conditional model (CPT, logistic regression, etc.)
YtYt+1
t t+1
X1t
X2t X2
t+1
X1t+1
Inference and learning in DBNs
• Inference– All techniques from BNs are used– Special techniques like Particle Filtering,
Boyen-Koller, Factored Frontier, etc. can be used for state monitoring
• Learning– Problem exactly similar to BNs– Structural EM used in case of missing data
• Needs a fast inference algorithm
Particle Filtering in DBNs
• Task: State monitoring• Particle Filter
– Samples represent state distribution at time t– Generate samples for t+1 based on model– Reweight according to observations– Resample
• Particles stay in most probable regions• Performs poorly in hi-dimensional spaces
Incorporating time in First Order Probabilistic Models
• Simple approach: Time is one of the arguments in first order logic– Year(p100, 1996), Hot (SVM, 2004)
• But time is special– World is growing in the direction of time
• Hot (SVM, 2005) dependent on Hot (SVM, 2004)
– Hard to discover rules that help in state monitoring, future prediction, etc.
– Blowup by incorporating time explicitly– Special inference algorithms no longer applicable
Dynamic Probabilistic Relational Models
• DPRM is a PRM replicated over time slices– DBN is a Bayes Net replicated over time slices
• In a DPRM attributes for each class dependent on attributes of same/related class – Related class from current/previous time slice– Previous relation
• “Unrolled” DPRM = DBN
DPRMs: Example
t
PLATE1
Color : Red#Holes : 4Bolted-To :
BRACKET7
Color : BlueSize : Large
t+1
Action:Bolt
PLATE1
Color : Red#Holes : 4Bolted-To :
BRACKET7
Color : BlueSize : Large
Inference in DPRMs
• Relational uncertainty huge state space
– E.g. 100 parts 10,000 possible attachments
• Particle filter likely to perform poorly– Rao-Blackwellization ??
• Assumptions (relaxed afterwards)– Uncertain reference slots do not appear in slot
chains or as parents– Single-valued uncertain reference slots
Rao-Blackwellization in DPRMs
• Sample propositional attributes– Smaller space and less error– Constitute the particle
• For each uncertain reference slot and particle state – Maintain a multinomial distribution over the set of
objects in the target class – Conditioned on values of propositional variables
RBPF: A Particle
Propositional attributes
Bolted-To-1 Bolted-To-2
Pl1 Pl2 Pl3 Pl4 Pl5Color Size Wt Pl1 Pl2 Pl3 Pl4 Pl5
0.1 0.1 0.2 0.1 0.5
Bracket1
Red Large 2lbs 0.3 0.2 0.2 0.1 0.2Pl6 Pl7 Pl8 Pl9 Pl10
0.25 0.3 0.1 0.25 0.1
Reference slots
Pl1 Pl2 Pl3 Pl4 Pl5Pl1 Pl2 Pl3 Pl4 Pl5
0.1 0.1 0.2 0.1 0.5
Bracket2
Blue Small 1lb 0.4 0.1 0.1 0.3 0.1Pl6 Pl7 Pl8 Pl9 Pl10
0.1 0.1 0.2 0.1 0.5
………………
Experimental Setup• Assembly Domain (AIPS98)
– Objects : Plates, Brackets, Bolts– Attributes : Color, Size, Weight, Hole type, etc.– Relations : Bolted-To, Welded-To– Propositional Actions: Paint, Polish, etc.– Relational Actions: Weld, Bolt– Observations
• Fault model– Faults cause uncertainty– Actions and observations uncertain– Governed by global fault probability (fp)
• Task: State Monitoring
RBPF vs PF
Problems with DPRMs
• Relationships modeled using slots– Slots and slot chains hard to represent and
understand
• Modeling ternary relationships becomes hard• Small subset of first-order logic (conjunctive
expressions) used to specify dependencies • Independence between objects participating in
multi-valued slots• Unstructured conditional model
Relational Dynamic Bayes Nets
• Replace slots and attributes with predicates (like in MLNs)
• Each predicate has parents which are other predicates
• The conditional model is a first-order probability tree
• The predicate graph is acyclic
• A copy of the model at each time slice
Inference: Relaxing the assumptions
• RBPF is infeasible when assumptions relaxed• Observation: Similar objects behave similarly• Sample all predicates
– Small number of samples, but large relational predicate space
– Smoothing : Likelihood of a small number of points can tell relative likelihood of others
• Given a particle smooth each relational predicate towards similar states
Simple Smoothing
Pl1 Pl2 Pl3 Pl4 Pl5Pl1 Pl2 Pl3 Pl4 Pl5
0.1 0.1 0.2 0.1 0.5 0.9 0.4 0.9 0.9 0.9
Propositional attributes
Color Size Wt
Red Large 2lbs
Bolted-To (Bracket_1, X)
Pl1 Pl2 Pl3 Pl4 Pl5Pl1 Pl2 Pl3 Pl4 Pl5
0.1 0.1 0.2 0.1 0.5 1 0 1 1 1
Particle Filtering : A particle
after smoothing
Simple Smoothing Problems
• Simple smoothing : probability of an object pair depends upon values of all other object pairs of the relation– E.g. P( Bolt(Br_1,Pl_1) ) depends on
Bolt(Br_i, Pl_j) for all i and j.
• Solution : Make an object pair depend more upon similar pairs– Similarity given by properties of the objects
Abstraction Lattice Smoothing
• Abstraction represents a set of similar object pairs.– Bolt(Br1, Pl1)– Bolt(red, large)– Bolt(*,*)
• Abstraction Lattice: a hierarchy of abstractions– Each abstraction has a coefficient
Abstraction Lattice : an example
Abstraction Lattice Smoothing
• P(Bolt(B1, P1))= w1 Ppf (Bolt(B1, P1) +
w2 Ppf(Bolt(red, large)) +
w3 Ppf(Bolt(*,*))
• Joint distributions are estimated using relational kernel density estimation– Kernel K(x, xi) gives distance between the
state and the particle– Distance measured using abstractions
Abstraction Smoothing vs PF
Learning with DMLNs
• Task: Can MLN learning be directly applied to learn time-based models?
• Domains– Predicting author, topic distribution in High-
Energy Theoretical Physics papers from KDDCup 2003
– Learning action models of manufacturing assembly processes
Learning with DMLNs
• DMLNs = MLNs + Time predicates– R(x,y) -> R(x,y,t), Succ(11, 10), Gt(10,5)
• Now directly apply MLN structure learning algorithm (Stanley and Pedro)
• To make it work– Use templates to model Markovian
assumption – Restrict number of predicates per clause– Add background knowledge
Physics dataset
Manufacturing Assembly
Current and Future Work
• Current Work – Programming by Demonstration using Dynamic First
Order Probabilistic Models
• Future Work– Learning object creation models– Learning in presence of missing data– Modeling hierarchies (very useful for fast inference)– Applying abstraction smoothing to ``static’’ relational
models