CSE 473: Ar+ficial Intelligence Markov Models - II Daniel S. Weld - - - University of Washington [Most slides were created by Dan Klein and Pieter Abbeel for CS188 Intro to AI at UC Berkeley. All CS188 materials are available at hmp://ai.berkeley.edu.] Condi+onal probability Product rule Chain rule Probability Recap Bayes rule X, Y independent if and only if: X and Y are condi+onally independent given Z: if and only if: 1
Reasoning over Time or Space OYen, we want to reason about a sequence of observa+ons Speech recogni+on Robot localiza+on User amen+on Medical monitoring Need to introduce +me (or space) into our models Markov Models Recap Explicit assump+on for all t : X t? X 1,...,X t 2 X t 1 Consequence, joint distribu+on can be wrimen as: P (X 1,X 2,...,X T )=P(X 1 )P (X 2 X 1 )P (X 3 X 2 )...P(X T X T 1 ) TY = P (X 1 ) P (X t X t 1 ) t=2 Addi+onal explicit assump+on: is the same for all t P (X t X t 1 ) is the same for all t T-1 T 2
Example Markov Chain: Weather States: X = {rain, sun} Ini+al distribu+on: 1.0 sun CPT P(X t X t- 1 ): Two new ways of represen+ng the same CPT X t- 1 X t P(X t X t- 1 ) sun sun 0.9 sun rain 0.1 rain sun 0.3 rain rain 0.7 0.7 rain 0.3 0.1 sun 0.9 sun rain 0.9 0.1 0.3 0.7 sun rain Mini- Forward Algorithm Ques+on: What s P(X) on some day t? X 1 X 2 X 3 X 4 P (x t )= X x t 1 P (x t 1,x t ) = X x t 1 P (x t x t 1 )P (x t 1 ) Forward simulation 3
Example Run of Mini- Forward Algorithm From ini+al observa+on of sun P(X 1 ) P(X 2 ) P(X 3 ) P(X 4 ) P(X ) From ini+al observa+on of rain P(X 1 ) P(X 2 ) P(X 3 ) P(X 4 ) P(X ) From yet another ini+al distribu+on P(X 1 ):? P(X 1 ) P(X ) [Demo: L13D1,2,3] Hidden Markov Models 8 4
Hidden Markov Models Markov chains not so useful for most agents Eventually you don t know anything anymore Need observa+ons to update your beliefs Hidden Markov models (HMMs) Underlying Markov chain over states S You observe outputs (effects) at each +me step As a Bayes net: X 1 X 2 X 3 X 4 X N 5 E 1 E 2 E 3 E 4 E N 5 Example An HMM is defined by: Ini+al distribu+on: Transi+ons: Emissions: 5
Hidden Markov Models X 1 X 2 X 3 X 4 X N 5 E 1 E 2 E 3 E 4 E N 5 Defines a joint probability distribu+on: Condi+onal Independence HMMs have two important independence proper+es: Markov hidden process, future depends on past via the present?? X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4 6
Condi+onal Independence HMMs have two important independence proper+es: Markov hidden process, future depends on past via the present Current observa+on independent of all else given current state? X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4? Condi+onal Independence HMMs have two important independence proper+es: Markov hidden process, future depends on past via the present Current observa+on independent of all else given current state X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4?? Quiz: does this mean that observa+ons are independent given no evidence? [No, correlated by the hidden state] 7
HMM Computa+ons Given parameters evidence E 1:n =e 1:n Inference problems include: Filtering, find P(X t e 1:t ) for all t Smoothing, find P(X t e 1:n ) for all t Most probable explanation, find x* 1:n = argmaxx 1:n P(x 1:n e 1:n ) Filtering (aka Monitoring) The task of tracking the agent s belief state, B(x), over >me B(x) is a distribu+on over world states repr agent knowledge We start with B(X) in an ini+al seqng, usually uniform As +me passes, or we get observa+ons, we update B(X) Many algorithms for this: Exact probabilis+c inference Par+cle filter approxima+on Kalman filter (one method Real valued values) invented in the 60 for Apollo Program real- valued state, Gaussian noise 8
HMM Examples Robot tracking: Observa+ons are range readings (con+nuous) States are posi+ons on a map (con+nuous) X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4 Example: Robot Localiza+on Example from Michael Pfeiffer Prob 0 t=0 Sensor model: never more than 1 mistake Mo+on model: may not execute ac+on with small prob. 1 9
Example: Robot Localiza+on Prob 0 1 t=1 Example: Robot Localiza+on Prob 0 1 t=2 10
Example: Robot Localiza+on Prob 0 1 t=3 Example: Robot Localiza+on Prob 0 1 t=4 11
Example: Robot Localiza+on Prob 0 1 t=5 Other Real HMM Examples Speech recogni+on HMMs: Observa+ons are acous+c signals (con+nuous valued) States are specific posi+ons in specific words (so, tens of thousands) X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4 12
Other Real HMM Examples Machine transla+on HMMs: Observa+ons are words (tens of thousands) States are transla+on op+ons X 1 X 2 X 3 X 4 E 1 E 1 E 3 E 4 Inference: Base Cases Observation Passage of Time X 1 X 1 X2 E 1 13
Passage of Time Assume we have current belief P(X evidence to date) X 1 X 2 Then, ayer one +me step passes: P (X t+1 e 1:t ) = X x t P (X t+1,x t e 1:t ) = X x t P (X t+1 x t,e 1:t )P (x t e 1:t ) = X x t P (X t+1 x t )P (x t e 1:t ) Or compactly: B 0 (X t+1 ) = X x t P (X 0 x t )B(x t ) Basic idea: beliefs get pushed through the transi+ons With the B nota+on, we have to be careful about what +me step t the belief is about, and what evidence it includes Example: Passage of Time As +me passes, uncertainty accumulates (Transi+on model: ghosts usually go clockwise) T = 1 T = 2 T = 5 14
Observa+on Assume we have current belief P(X previous evidence): B 0 (X t+1 )=P(X t+1 e 1:t ) Then, ayer evidence comes in: P (X t+1 e 1:t+1 ) = P (X t+1,e t+1 e 1:t )/P (e t+1 e 1:t ) / Xt+1 P (X t+1,e t+1 e 1:t ) X 1 E 1 = P (e t+1 e 1:t,X t+1 )P (X t+1 e 1:t ) Or, compactly: = P (e t+1 X t+1 )P (X t+1 e 1:t ) B(X t+1 ) / Xt+1 P (e t+1 X t+1 )B 0 (X t+1 ) Basic idea: beliefs reweighted by likelihood of evidence Unlike passage of +me, we have to renormalize Example: Observa+on As we get observa+ons, beliefs get reweighted, uncertainty decreases Before observa+on AYer observa+on 15
Example: Weather HMM B (+r) = 0.5 B (- r) = 0.5 B (+r) = 0.627 B (- r) = 0.373 B(+r) = 0.5 B(- r) = 0.5 B(+r) = 0.818 B(- r) = 0.182 B(+r) = 0.883 B(- r) = 0.117 Rain 0 Rain 1 Rain 2 Umbrella 1 Umbrella 2 R t R t+1 P(R t+1 R t ) +r +r 0.7 +r - r 0.3 - r +r 0.3 - r - r 0.7 R t U t P(U t R t ) +r +u 0.9 +r - u 0.1 - r +u 0.2 - r - u 0.8 Pacman Sonar (P4) [Demo: Pacman Sonar No Beliefs(L14D1)] 16
Video of Demo Pacman Sonar (with beliefs) Summary: Online Belief Updates Every +me step, we start with current P(X evidence) We update for +me: X 1 X 2 We update for evidence: X 2 The forward algorithm does both at once (and doesn t normalize) E 2 17
The Forward Algorithm We are given evidence at each +me and want to know We use the single (+me- passage+observa+on) updates: We can normalize as we go if we want to have P(x e) at each +me step, or just once at the end Complexity? O( X 2 ) +me & O(X) space Par+cle Filtering 18
Par+cle Filtering Filtering: approximate solu+on Some+mes X is too big to use exact inference X may be too big to even store B(X) E.g. X is con+nuous Solu+on: approximate inference Track samples of X, not all values Samples are called par+cles Time per step is linear in the number of samples But: number needed may be large In memory: list of par+cles, not states 0.0 0.1 0.0 0.0 0.0 0.2 0.0 0.2 0.5 This is how robot localiza+on works in prac+ce Par+cle is just new name for sample Representa+on: Par+cles Our representa+on of P(X) is now a list of N par+cles (samples) Generally, N << X Storing map from X to counts would defeat the point P(x) approximated by number of par+cles with value x So, many x may have P(x) = 0! More par+cles, more accuracy For now, all par+cles have a weight of 1 Par+cles: (1,2) 19
Par+cle Filtering: Elapse Time Each par+cle is moved by sampling its next posi+on from the transi+on model This is like prior sampling samples frequencies reflect the transi+on probabili+es Here, most samples move clockwise, but some move in another direc+on or stay in place This captures the passage of +me If enough samples, close to exact values before and ayer (consistent) Par+cles: (1,2) Par+cles: (3,1) (1,3) (2,2) Par+cle Filtering: Observe Slightly trickier: Don t sample observa+on, fix it Similar to likelihood weigh+ng, downweight samples based on the evidence Par+cles: (3,1) (1,3) (2,2) As before, the probabili+es don t sum to one, since all have been downweighted (in fact they now sum to (N +mes) an approxima+on of P(e)) Par+cles: w=.9 w=.2 w=.9 (3,1) w=.4 w=.4 w=.9 (1,3) w=.1 w=.2 w=.9 (2,2) w=.4 20
Par+cle Filtering: Resample Rather than tracking weighted samples, we resample N +mes, we choose from our weighted sample distribu+on (i.e. draw with replacement) This is equivalent to renormalizing the distribu+on Now the update is complete for this +me step, con+nue with the next one Par+cles: w=.9 w=.2 w=.9 (3,1) w=.4 w=.4 w=.9 (1,3) w=.1 w=.2 w=.9 (2,2) w=.4 (New) Par+cles: (2,2) (1,3) Recap: Par+cle Filtering Par+cles: track samples of states rather than an explicit distribu+on Elapse Weight Resample Par+cles: (1,2) Par+cles: (3,1) (1,3) (2,2) Par+cles: w=.9 w=.2 w=.9 (3,1) w=.4 w=.4 w=.9 (1,3) w=.1 w=.2 w=.9 (2,2) w=.4 (New) Par+cles: (2,2) (1,3) [Demos: ghostbusters par+cle filtering (L15D3,4,5)] 21
Video of Demo Moderate Number of Par+cles Video of Demo One Par+cle 22
Video of Demo Huge Number of Par+cles Robot Localiza+on In robot localiza+on: We know the map, but not the robot s posi+on Observa+ons may be vectors of range finder readings State space and readings are typically con+nuous (works basically like a very fine grid) and so we cannot store B(X) Par+cle filtering is a main technique 23
Par+cle Filter Localiza+on (Sonar) [Video: global- sonar- uw- annotated.avi] Par+cle Filter Localiza+on (Laser) [Video: global- floor.gif] 24
Robot Mapping SLAM: Simultaneous Localiza+on And Mapping We do not know the map or our loca+on State consists of posi+on AND map! Main techniques: Kalman filtering (Gaussian HMMs) and par+cle methods DP- SLAM, Ron Parr [Demo: PARTICLES- SLAM- mapping1- new.avi] Par+cle Filter SLAM Video 1 [Demo: PARTICLES- SLAM- mapping1- new.avi] 25
Par+cle Filter SLAM Video 2 [Demo: PARTICLES- SLAM- fastslam.avi] 26