|
|
xv | |
Contributors |
|
xxi | |
Preface |
|
xxiii | |
|
|
|
1 Statistical Relational AI: Representation, Inference and Learning |
|
|
3 | (12) |
|
|
|
|
|
|
4 | (8) |
|
1.1.1 First-order Logic and Logic Programs |
|
|
5 | (1) |
|
1.1.2 Probability and Graphical Models |
|
|
6 | (2) |
|
1.1.3 Relational Probabilistic Models |
|
|
8 | (3) |
|
1.1.4 Weighted First-order Model Counting |
|
|
11 | (1) |
|
1.1.5 Observations and Queries |
|
|
11 | (1) |
|
|
12 | (2) |
|
|
14 | (1) |
|
|
14 | (1) |
|
2 Modeling and Reasoning with Statistical Relational Representations |
|
|
15 | (24) |
|
|
|
2.1 Preliminaries: First-order Logic |
|
|
16 | (1) |
|
2.2 Lifted Graphical Models and Probabilistic Logic Programs |
|
|
17 | (11) |
|
2.2.1 Parameterized Factors: Markov Logic Networks |
|
|
17 | (4) |
|
2.2.2 Probabilistic Logic Programs: ProbLog |
|
|
21 | (5) |
|
|
26 | (2) |
|
2.3 Statistical Relational Representations |
|
|
28 | (10) |
|
2.3.1 Desirable Properties of Representation Languages |
|
|
28 | (1) |
|
|
29 | (9) |
|
|
38 | (1) |
|
3 Statistical Relational Learning |
|
|
39 | (18) |
|
|
|
|
|
|
|
|
39 | (1) |
|
3.2 Statistical Relational Learning Models |
|
|
40 | (1) |
|
3.3 Parameter Learning of SRL models |
|
|
41 | (1) |
|
3.4 Markov Logic Networks |
|
|
41 | (1) |
|
3.5 Parameter and Structure Learning of Markov Logic Networks |
|
|
42 | (3) |
|
|
42 | (2) |
|
|
44 | (1) |
|
3.6 Boosting-based Learning of SRL Models |
|
|
45 | (2) |
|
3.7 Deep Transfer Learning Using SRL Models |
|
|
47 | (6) |
|
|
48 | (1) |
|
|
48 | (1) |
|
|
49 | (2) |
|
|
51 | (2) |
|
|
53 | (4) |
|
|
|
4 Lifted Variable Elimination |
|
|
57 | (32) |
|
|
|
|
|
|
|
57 | (1) |
|
4.2 Lifted Variable Elimination by Example |
|
|
58 | (8) |
|
4.2.1 The Workshop Example |
|
|
58 | (1) |
|
4.2.2 Variable Elimination |
|
|
59 | (3) |
|
4.2.3 Lifted Inference: Exploiting Symmetries among Factors |
|
|
62 | (1) |
|
4.2.4 Lifted Inference: Exploiting Symmetries within Factors |
|
|
62 | (2) |
|
4.2.5 Splitting Overlapping Groups and Its Relation to Unification |
|
|
64 | (2) |
|
|
66 | (4) |
|
4.3.1 A Constraint-based Representation Formalism |
|
|
66 | (2) |
|
|
68 | (2) |
|
4.4 The GC-FOVE Algorithm: Outline |
|
|
70 | (1) |
|
|
71 | (18) |
|
4.5.1 Lifted Multiplication |
|
|
71 | (2) |
|
|
73 | (3) |
|
4.5.3 Counting Conversion |
|
|
76 | (3) |
|
4.5.4 Splitting and Shattering |
|
|
79 | (3) |
|
4.5.5 Expansion of Counting Formulas |
|
|
82 | (3) |
|
4.5.6 Count Normalization |
|
|
85 | (1) |
|
|
85 | (4) |
|
5 Search-Based Exact Lifted Inference |
|
|
89 | (24) |
|
|
|
|
5.1 Background and Notation |
|
|
90 | (4) |
|
5.1.1 Random Variables, Independence, and Symmetry |
|
|
90 | (1) |
|
5.1.2 Finite-domain Function-free First-order Logic |
|
|
91 | (1) |
|
|
92 | (1) |
|
5.1.4 Graphical Notation of Dependencies in Log-linear Models |
|
|
93 | (1) |
|
5.1.5 Markov Logic Networks |
|
|
93 | (1) |
|
5.1.6 From Normalization Constant to Probabilistic Inference |
|
|
94 | (1) |
|
|
94 | (6) |
|
|
95 | (1) |
|
5.2.2 Converting Inference into Calculating WMCs |
|
|
96 | (1) |
|
5.2.3 Efficiently Finding the WMC of a Theory |
|
|
96 | (3) |
|
5.2.4 Order of Applying Rules |
|
|
99 | (1) |
|
5.3 Lifting Search-Based Inference |
|
|
100 | (13) |
|
5.3.1 Weighted Model Counting for First-order Theories |
|
|
101 | (2) |
|
5.3.2 Converting Inference for Relational Models into Calculating WMCs of First-order Theories |
|
|
103 | (1) |
|
5.3.3 Efficiently Calculating the WMC of a First-order Theory |
|
|
103 | (7) |
|
5.3.4 Order of Applying Rules |
|
|
110 | (1) |
|
5.3.5 Bounding the Complexity of Lifted Inference |
|
|
110 | (3) |
|
6 Lifted Aggregation and Skolemization for Directed Models |
|
|
113 | (34) |
|
|
|
|
|
|
|
|
|
|
113 | (1) |
|
6.2 Lifted Aggregation in Directed First-order Probabilistic Models |
|
|
114 | (13) |
|
6.2.1 Parameterized Random Variables and Parametric Factors |
|
|
114 | (2) |
|
6.2.2 Aggregation in Directed First-order Probabilistic Models |
|
|
116 | (2) |
|
|
118 | (1) |
|
6.2.4 Incorporating Aggregation in C-FOVE |
|
|
119 | (6) |
|
|
125 | (2) |
|
6.3 Efficient Methods for Lifted Inference with Aggregation Parfactors |
|
|
127 | (10) |
|
6.3.1 Efficient Methods for AFM Problems |
|
|
129 | (5) |
|
6.3.2 Aggregation Factors with Multiple Atoms |
|
|
134 | (1) |
|
6.3.3 Efficient Lifted Belief Propagation with Aggregation Parfactors |
|
|
135 | (1) |
|
|
135 | (1) |
|
|
136 | (1) |
|
6.4 Lifted Aggregation through Skolemization for Weighted First-order Model Counting |
|
|
137 | (7) |
|
|
137 | (1) |
|
6.4.2 Skolemization for WFOMC |
|
|
137 | (2) |
|
6.4.3 Skolemization of Markov Logic Networks |
|
|
139 | (2) |
|
6.4.4 Skolemization of Probabilistic Logic Programs |
|
|
141 | (2) |
|
6.4.5 Negative Probabilities |
|
|
143 | (1) |
|
|
144 | (1) |
|
|
144 | (3) |
|
7 First-order Knowledge Compilation |
|
|
147 | (8) |
|
|
|
|
7.1 Calculating WMC of Propositional Theories through Knowledge Compilation |
|
|
148 | (1) |
|
7.2 Knowledge Compilation for First-order Theories |
|
|
149 | (3) |
|
7.2.1 Compilation Example |
|
|
151 | (1) |
|
|
151 | (1) |
|
7.3 Why Compile to Low-level Programs? |
|
|
152 | (3) |
|
|
155 | (6) |
|
|
|
|
|
8.1 Domain-liftable Classes |
|
|
155 | (3) |
|
8.1.1 Membership Checking |
|
|
158 | (1) |
|
|
158 | (3) |
|
9 Tractability through Exchangeability: The Statistics of Lifting |
|
|
161 | (20) |
|
|
|
|
161 | (1) |
|
9.2 A Case Study: Markov Logic |
|
|
162 | (2) |
|
9.2.1 Markov Logic Networks Review |
|
|
163 | (1) |
|
9.2.2 Inference without Independence |
|
|
163 | (1) |
|
9.3 Finite Exchangeability |
|
|
164 | (3) |
|
9.3.1 Finite Partial Exchangeability |
|
|
165 | (1) |
|
9.3.2 Partial Exchangeability and Probabilistic Inference |
|
|
166 | (1) |
|
9.3.3 Markov Logic Case Study |
|
|
166 | (1) |
|
9.4 Exchangeable Decompositions |
|
|
167 | (3) |
|
9.4.1 Variable Decompositions |
|
|
167 | (1) |
|
9.4.2 Tractable Variable Decompositions |
|
|
168 | (1) |
|
9.4.3 Markov Logic Case Study |
|
|
169 | (1) |
|
9.5 Marginal and Conditional Exchangeability |
|
|
170 | (3) |
|
9.5.1 Marginal and Conditional Decomposition |
|
|
170 | (2) |
|
9.5.2 Markov Logic Case Study |
|
|
172 | (1) |
|
9.6 Discussion and Conclusion |
|
|
173 | (8) |
|
III APPROXIMATE INFERENCE |
|
|
|
10 Lifted Markov Chain Monte Carlo |
|
|
181 | (22) |
|
|
|
|
181 | (1) |
|
|
182 | (2) |
|
|
182 | (1) |
|
10.2.2 Finite Markov Chains |
|
|
183 | (1) |
|
10.2.3 Markov Chain Monte Carlo |
|
|
183 | (1) |
|
10.3 Symmetries of Probabilistic Models |
|
|
184 | (2) |
|
10.3.1 Graphical Model Symmetries |
|
|
184 | (1) |
|
10.3.2 Relational Model Symmetries |
|
|
185 | (1) |
|
10.4 Lifted MCMC for Symmetric Models |
|
|
186 | (4) |
|
|
187 | (1) |
|
10.4.2 Orbital Markov Chains |
|
|
188 | (2) |
|
10.5 Lifted MCMC for Asymmetric Models |
|
|
190 | (3) |
|
|
190 | (1) |
|
10.5.2 Metropohs-Hastings Chains |
|
|
190 | (1) |
|
10.5.3 Orbital Metropolis Chains |
|
|
191 | (1) |
|
10.5.4 Lifted Metropolis-Hastings |
|
|
192 | (1) |
|
10.6 Approximate Symmetries |
|
|
193 | (2) |
|
10.6.1 Relational Symmetrization |
|
|
194 | (1) |
|
10.6.2 Propositional Symmetrization |
|
|
194 | (1) |
|
10.6.3 From OSAs to Automorphisms |
|
|
195 | (1) |
|
10.7 Empirical Evaluation |
|
|
195 | (1) |
|
10.7.1 Symmetric Model Experiments |
|
|
195 | (1) |
|
10.8 Asymmetric Model Experiments |
|
|
196 | (2) |
|
|
198 | (1) |
|
|
198 | (1) |
|
10.11 Appendix: Proof of Theorem 10.3 |
|
|
198 | (5) |
|
11 Lifted Message Passing for Probabilistic and Combinatorial Problems |
|
|
203 | (56) |
|
|
|
|
|
|
|
203 | (2) |
|
11.2 Loopy Belief Propagation (LBP) |
|
|
205 | (1) |
|
11.3 Lifted Message Passing for Probabilistic Inference: Lifted (Loopy) BP |
|
|
206 | (5) |
|
11.3.1 Step 1 -- Compressing the Factor Graph |
|
|
206 | (2) |
|
11.3.2 Step 2 -- BP on the Compressed Factor Graph |
|
|
208 | (3) |
|
11.4 Lifted Message Passing for SAT Problems |
|
|
211 | (16) |
|
11.4.1 Lifted Satisfiability |
|
|
212 | (2) |
|
11.4.2 CNFs and Factor Graphs |
|
|
214 | (2) |
|
11.4.3 Belief Propagation for Satisfiability |
|
|
216 | (1) |
|
11.4.4 Decimation-based SAT Solving |
|
|
216 | (1) |
|
11.4.5 Lifted Warning Propagation |
|
|
217 | (3) |
|
11.4.6 Lifted Survey Propagation |
|
|
220 | (3) |
|
|
223 | (1) |
|
11.4.8 Experimental Evaluation |
|
|
224 | (1) |
|
11.4.9 Summary: Lifted Satisfiability |
|
|
225 | (2) |
|
11.5 Lifted Sequential Clamping for SAT Problems and Sampling |
|
|
227 | (11) |
|
11.5.1 Lifted Sequential Inference |
|
|
228 | (5) |
|
11.5.2 Experimental Evaluation |
|
|
233 | (4) |
|
11.5.3 Summary Lifted Sequential Clamping |
|
|
237 | (1) |
|
11.6 Lifted Message Passing for MAP via Likelihood Maximization |
|
|
238 | (18) |
|
11.6.1 Lifted Likelihood Maximization (LM) |
|
|
239 | (3) |
|
11.6.2 Bootstrapped Likelihood Maximization (LM) |
|
|
242 | (1) |
|
11.6.3 Bootstrapped Lifted Likelihood Maximization (LM) |
|
|
243 | (6) |
|
11.6.4 Experimental Evaluation |
|
|
249 | (5) |
|
11.6.5 Summary of Lifted Likelihood Maximization for MAP Inference |
|
|
254 | (2) |
|
|
256 | (3) |
|
12 Lifted Generalized Belief Propagation: Relax, Compensate and Recover |
|
|
259 | (22) |
|
|
|
|
|
259 | (1) |
|
|
260 | (3) |
|
|
261 | (1) |
|
12.2.2 Ground Compensation |
|
|
261 | (1) |
|
|
262 | (1) |
|
|
263 | (7) |
|
12.3.1 First-order Relaxation |
|
|
263 | (2) |
|
12.3.2 First-order Compensation |
|
|
265 | (3) |
|
12.3.3 Count-Normalization |
|
|
268 | (1) |
|
12.3.4 The Compensation Scheme |
|
|
269 | (1) |
|
12.3.5 First-order Recovery |
|
|
269 | (1) |
|
12.4 Partitioning Equivalences |
|
|
270 | (3) |
|
12.4.1 Partitioning Atoms by Preemptive Shattering |
|
|
270 | (1) |
|
12.4.2 Partitioning Equivalences by Preemptive Shattering |
|
|
271 | (1) |
|
12.4.3 Dynamic Equivalence Partitioning |
|
|
272 | (1) |
|
12.5 Related and Future Work |
|
|
273 | (2) |
|
12.5.1 Relation to Propositional Algorithms |
|
|
273 | (1) |
|
12.5.2 Relation to Lifted Algorithms |
|
|
274 | (1) |
|
12.5.3 Opportunities for Equivalence Partitioning |
|
|
274 | (1) |
|
|
275 | (5) |
|
|
275 | (1) |
|
|
276 | (4) |
|
|
280 | (1) |
|
13 Lift ability Theory of Variational Inference |
|
|
281 | (36) |
|
|
|
|
|
281 | (1) |
|
13.2 Lifted Variational Inference |
|
|
282 | (6) |
|
13.2.1 Symmetry: Groups and Partitions |
|
|
283 | (2) |
|
13.2.2 Exponential Families and the Variational Principle |
|
|
285 | (1) |
|
13.2.3 Lifting the Variational Principle |
|
|
286 | (2) |
|
13.3 Exact Lifted Variational Inference: Automorphisms of F |
|
|
288 | (7) |
|
13.3.1 Automorphisms of Exponential Family |
|
|
288 | (3) |
|
13.3.2 Parameter Tying and Lifting Partitions |
|
|
291 | (1) |
|
13.3.3 Computing Automorphisms of F |
|
|
292 | (1) |
|
13.3.4 The Lifted Marginal Polytope |
|
|
293 | (2) |
|
13.4 Beyond Orbits of T: Approximate Lifted Variational Inference |
|
|
295 | (10) |
|
13.4.1 Approximate Variational Inference |
|
|
296 | (1) |
|
13.4.2 Equitable Partitions of the Exponential Family |
|
|
297 | (2) |
|
13.4.3 Equitable Partitions of Concave Energies |
|
|
299 | (3) |
|
13.4.4 Lifted Counting Numbers |
|
|
302 | (2) |
|
13.4.5 Computing Equitable Partitions of Exponential Families |
|
|
304 | (1) |
|
13.5 Unfolding Variational Inference Algorithms via Reparametrization |
|
|
305 | (10) |
|
13.5.1 The Lifted Approximate Variational Problem |
|
|
306 | (2) |
|
13.5.2 Energy Equivalence of Exponential Families |
|
|
308 | (3) |
|
13.5.3 Finding Partition-Equivalent Exponential Families |
|
|
311 | (4) |
|
13.6 Symmetries of Markov Logic Networks (MLNs) |
|
|
315 | (1) |
|
|
316 | (1) |
|
14 Lifted Inference for Hybrid Relational Models |
|
|
317 | (32) |
|
|
|
|
|
317 | (1) |
|
14.2 Relational Continuous Models |
|
|
318 | (9) |
|
14.2.1 Inference Algorithms for RCMs |
|
|
321 | (3) |
|
14.2.2 Exact Lifted Inference with RCMs |
|
|
324 | (1) |
|
14.2.3 Conditions for Exact Lifted Inference |
|
|
325 | (2) |
|
14.3 Relational Kalman Filtering |
|
|
327 | (10) |
|
14.3.1 Model and Problem Definitions |
|
|
328 | (4) |
|
14.3.2 Lifted Relational Kalman Filter |
|
|
332 | (3) |
|
14.3.3 Algorithms and Computational Complexity |
|
|
335 | (2) |
|
14.4 Lifted Message Passing for Hybrid Relational Models |
|
|
337 | (6) |
|
14.4.1 Lifted Gaussian Belief Propagation |
|
|
337 | (3) |
|
14.4.2 Multi-evidence Lifting |
|
|
340 | (1) |
|
14.4.3 Sequential Multi-Evidence Lifting |
|
|
341 | (2) |
|
14.5 Approximate Lifted Inference for General RCMs |
|
|
343 | (1) |
|
|
344 | (5) |
|
IV BEYOND PROBABILISTIC INFERENCE |
|
|
|
15 Color Refinement and Its Applications |
|
|
349 | (24) |
|
|
|
|
|
|
349 | (4) |
|
|
350 | (1) |
|
|
351 | (1) |
|
15.1.3 A Logical Characterization of Color Refinement |
|
|
352 | (1) |
|
15.2 Color Refinement in Quasilinear Time |
|
|
353 | (2) |
|
15.3 Application: Graph Isomorphism Testing |
|
|
355 | (3) |
|
15.4 The Weisfeiler-Leman Algorithm |
|
|
358 | (2) |
|
15.5 Fractional Isomorphism |
|
|
360 | (6) |
|
15.5.1 Color Refinement and Fractional Isomorphism of Matrices |
|
|
364 | (2) |
|
15.6 Application: Linear Programming |
|
|
366 | (2) |
|
15.7 Application: Weisfeiler-Leman Graph Kernels |
|
|
368 | (2) |
|
|
370 | (3) |
|
16 Stochastic Planning and Lifted Inference |
|
|
373 | (24) |
|
|
|
|
373 | (8) |
|
16.1.1 Stochastic Planning and Inference |
|
|
375 | (3) |
|
16.1.2 Stochastic Planning and Generalized Lifted Inference |
|
|
378 | (3) |
|
|
381 | (5) |
|
16.2.1 Relational Expressions and Their Calculus of Operations |
|
|
381 | (3) |
|
|
384 | (2) |
|
16.3 Symbolic Dynamic Programming |
|
|
386 | (6) |
|
16.4 Discussion and Related Work |
|
|
392 | (3) |
|
16.4.1 Deductive Lifted Stochastic Planning |
|
|
392 | (2) |
|
16.4.2 Inductive Lifted Stochastic Planning |
|
|
394 | (1) |
|
|
395 | (2) |
Bibliography |
|
397 | (28) |
Index |
|
425 | |