CS 188: Artificial Intelligence

Probability

Instructor: Anca Dragan --- University of California, Berkeley

[These slides were created by Dan Klein and Pieter Abbeel for CS188 Intro to AI at UC Berkeley. All CS188 materials are available at http://ai.berkeley.edu.]
 Our Status in CS188

§ We’re done with Part I Search and Planning!

§ Part II: Probabilistic Reasoning

§ Diagnosis
§ Speech recognition
§ Tracking objects
§ Robot mapping
§ Genetics
§ Error correcting codes
§ … lots more!

§ Part III: Machine Learning

 Today
§ Probability
§ Random Variables
§ Joint and Marginal Distributions
§ Conditional Distribution
§ Product Rule, Chain Rule, Bayes’ Rule
§ Inference
§ Independence

§ You’ll need all this stuff A LOT for the

next few weeks, so make sure you go
over it now!
 Inference in Ghostbusters
§ A ghost is in the grid
somewhere
§ Sensor readings tell how
close a square is to the
ghost
§ On the ghost: red
§ 1 or 2 away: orange
§ 3 or 4 away: yellow
§ 5+ away: green

§ Sensors are noisy, but we know P(Color | Distance)

P(red | 3) P(orange | 3) P(yellow | 3) P(green | 3)
0.05 0.15 0.5 0.3
[Demo: Ghostbuster – no probability (L12D1) ]
Video of Demo Ghostbuster – No probability
 Uncertainty
§ General situation:
§ Observed variables (evidence): Agent knows certain
things about the state of the world (e.g., sensor
readings or symptoms)
§ Unobserved variables: Agent needs to reason about
other aspects (e.g. where an object is or what disease is
present)
§ Model: Agent knows something about how the known
variables relate to the unknown variables

§ Probabilistic reasoning gives us a framework for

managing our beliefs and knowledge
 Random Variables
§ A random variable is some aspect of the world about
which we (may) have uncertainty
§ R = Is it raining?
§ T = Is it hot or cold?
§ D = How long will it take to drive to work?
§ L = Where is the ghost?

§ We denote random variables with capital letters

§ Like variables in a CSP, random variables have domains

§ R in {true, false} (often write as {+r, -r})
§ T in {hot, cold}
§ D in [0, ¥)
§ L in possible locations, maybe {(0,0), (0,1), …}
 Probability Distributions
§ Associate a probability with each value

§ Temperature: § Weather:

W P
T P
sun 0.6
hot 0.5
rain 0.1
cold 0.5
fog 0.3
meteor 0.0
 Probability Distributions
§ Unobserved random variables have distributions
Shorthand notation:

T P W P
hot 0.5 sun 0.6
cold 0.5 rain 0.1
fog 0.3
meteor 0.0

§ A distribution is a TABLE of probabilities of values OK if all domain entries are unique

§ A probability (lower case value) is a single number

§ Must have: and

 Joint Distributions
§ A joint distribution over a set of random variables:
specifies a real number for each assignment (or outcome):

T W P
§ Must obey: hot sun 0.4
hot rain 0.1
cold sun 0.2
cold rain 0.3

§ Size of distribution if n variables with domain sizes d?

§ For all but the smallest distributions, impractical to write out!
 Probabilistic Models
§ A probabilistic model is a joint distribution Distribution over T,W
over a set of random variables
T W P
§ Probabilistic models: hot sun 0.4
§ (Random) variables with domains hot rain 0.1
§ Assignments are called outcomes
§ Joint distributions: say whether assignments cold sun 0.2
(outcomes) are likely cold rain 0.3
§ Normalized: sum to 1.0
§ Ideally: only certain variables directly interact
Constraint over T,W

§ Constraint satisfaction problems: T W P

§ Variables with domains
hot sun T
§ Constraints: state whether assignments are
possible hot rain F
§ Ideally: only certain variables directly interact
cold sun F
cold rain T
 Events
§ An event is a set E of outcomes

§ From a joint distribution, we can

calculate the probability of any event T W P
§ Probability that it’s hot AND sunny? hot sun 0.4
hot rain 0.1
§ Probability that it’s hot?
cold sun 0.2
§ Probability that it’s hot OR sunny? cold rain 0.3

§ Typically, the events we care about

are partial assignments, like P(T=hot)
 Quiz: Events
§ P(+x, +y) ?

X Y P
+x +y 0.2
§ P(+x) ?
+x -y 0.3
-x +y 0.4
-x -y 0.1
§ P(-y OR +x) ?
 Quiz: Events
§ P(+x, +y) ?
.2
X Y P
+x +y 0.2
§ P(+x) ?
+x -y 0.3
.2+.3=.5 -x +y 0.4
-x -y 0.1
§ P(-y OR +x) ?

.1+.3+.2=.6
 Marginal Distributions
§ Marginal distributions are sub-tables which eliminate variables
§ Marginalization (summing out): Combine collapsed rows by adding

T P
hot 0.5
T W P
cold 0.5
hot sun 0.4
hot rain 0.1
cold sun 0.2 W P
cold rain 0.3 sun 0.6
rain 0.4
 Quiz: Marginal Distributions

X P
+x
X Y P
-x
+x +y 0.2
+x -y 0.3
-x +y 0.4 Y P
-x -y 0.1 +y
-y
 Quiz: Marginal Distributions

X P
+x .5
X Y P
-x .5
+x +y 0.2
+x -y 0.3
-x +y 0.4 Y P
-x -y 0.1 +y .6
-y .4
 Conditional Probabilities
§ A simple relation between joint and conditional probabilities
§ In fact, this is taken as the definition of a conditional probability

P(a,b)

P(a) P(b)

T W P
hot sun 0.4
hot rain 0.1
cold sun 0.2
cold rain 0.3
 Quiz: Conditional Probabilities
§ P(+x | +y) ?

X Y P
+x +y 0.2 § P(-x | +y) ?
+x -y 0.3
-x +y 0.4
-x -y 0.1
§ P(-y | +x) ?
 Quiz: Conditional Probabilities
§ P(+x | +y) ?

.2/.6=1/3

X Y P
+x +y 0.2 § P(-x | +y) ?
+x -y 0.3
.4/.6=2/3
-x +y 0.4
-x -y 0.1
§ P(-y | +x) ?

.3/.5=.6
 Conditional Distributions
§ Conditional distributions are probability distributions over
some variables given fixed values of others
Conditional Distributions
Joint Distribution

W P
T W P
sun 0.8
hot sun 0.4
rain 0.2
hot rain 0.1
cold sun 0.2
W P cold rain 0.3
sun 0.4
rain 0.6
 Normalization Trick

T W P
hot sun 0.4
W P
hot rain 0.1
sun 0.4
cold sun 0.2
rain 0.6
cold rain 0.3
 Normalization Trick

SELECT the joint NORMALIZE the

probabilities selection
T W P matching the (make it sum to one)
hot sun 0.4 evidence T W P W P
hot rain 0.1 cold sun 0.2 sun 0.4
cold sun 0.2 cold rain 0.3 rain 0.6
cold rain 0.3
 Normalization Trick

SELECT the joint NORMALIZE the

probabilities selection
T W P matching the (make it sum to one)
hot sun 0.4 evidence T W P W P
hot rain 0.1 cold sun 0.2 sun 0.4
cold sun 0.2 cold rain 0.3 rain 0.6
cold rain 0.3

§ Why does this work? Sum of selection is P(evidence)! (P(T=c), here)

 Quiz: Normalization Trick
§ P(X | Y=-y) ?

SELECT the joint NORMALIZE the

probabilities selection
X Y P matching the (make it sum to one)
+x +y 0.2 evidence
+x -y 0.3
-x +y 0.4
-x -y 0.1
 Quiz: Normalization Trick
§ P(X | Y=-y) ?

SELECT the joint NORMALIZE the

probabilities selection
X Y P matching the X Y P (make it sum to one) X P
+x +y 0.2 evidence +x -y 0.3 +x 0.75
+x -y 0.3 -x -y 0.1 -x 0.25
-x +y 0.4
-x -y 0.1
 To Normalize
§ (Dictionary) To bring or restore to a normal condition

All entries sum to ONE

§ Procedure:
§ Step 1: Compute Z = sum over all entries
§ Step 2: Divide every entry by Z

§ Example 1 § Example 2
W P W P T W P T W P
Normalize
hot sun 20 Normalize hot sun 0.4
sun 0.2 sun 0.4
hot rain 5 hot rain 0.1
rain 0.3 Z = 0.5 rain 0.6
cold sun 10 Z = 50 cold sun 0.2
cold rain 15 cold rain 0.3
 Probabilistic Inference
§ Probabilistic inference: compute a desired
probability from other known probabilities (e.g.
conditional from joint)

§ We generally compute conditional probabilities

§ P(on time | no reported accidents) = 0.90
§ These represent the agent’s beliefs given the evidence

§ Probabilities change with new evidence:

§ P(on time | no accidents, 5 a.m.) = 0.95
§ P(on time | no accidents, 5 a.m., raining) = 0.80
§ Observing new evidence causes beliefs to be updated
 Inference by Enumeration

§ P(W)? S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration

§ P(W)? S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration

§ P(W)? S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration

§ P(W)? S T W P
summer hot sun 0.30
P(sun)=.3+.1+.1+.15=.65 summer hot rain 0.05
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration

§ P(W)? S T W P
summer hot sun 0.30
P(sun)=.3+.1+.1+.15=.65 summer hot rain 0.05
P(rain)=1-.65=.35
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
§ P(W | winter, hot)? summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
§ P(W | winter, hot)? summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
§ P(W | winter, hot)? summer cold rain 0.05
winter hot sun 0.10
P(sun|winter,hot)~.1
winter hot rain 0.05
P(rain|winter,hot)~.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
summer cold sun 0.10
§ P(W | winter, hot)? summer cold rain 0.05
winter hot sun 0.10
P(sun|winter,hot)~.1
winter hot rain 0.05
P(rain|winter,hot)~.05
P(sun|winter,hot)=2/3 winter cold sun 0.15
P(rain|winter,hot)=1/3
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
§ P(W | winter)?
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
§ P(W | winter)?
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
P(sun|winter)~.1+.15=.25
P(sun,winter)=.25 winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
§ P(W | winter)?
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
P(rain|winter)~.05+.2=.25
P(rain,winter)=.25 winter cold sun 0.15
winter cold rain 0.20
 Inference by Enumeration
S T W P
summer hot sun 0.30
summer hot rain 0.05
§ P(W | winter)?
summer cold sun 0.10
summer cold rain 0.05
winter hot sun 0.10
winter hot rain 0.05
P(sun|winter)~.25
P(rain|winter)~.25 winter cold sun 0.15
P(sun|winter)=.5 winter cold rain 0.20
P(rain|winter)=.5
 Inference by Enumeration
* Works fine with
§ General case: § We want: multiple query
§ Evidence variables: variables, too
§ Query* variable:
All variables
§ Hidden variables:

§ Step 1: Select the § Step 2: Sum out H to get joint § Step 3: Normalize
entries consistent of Query and evidence
with the evidence
1
⇥
Z
 Inference by Enumeration

§ Obvious problems:
§ Worst-case time complexity O(dn)
§ Space complexity O(dn) to store the joint distribution
 The Product Rule
§ Sometimes have conditional distributions but want the joint
 The Product Rule

§ Example:

D W P D W P
wet sun 0.1 wet sun 0.08
R P
dry sun 0.9 dry sun 0.72
sun 0.8
wet rain 0.7 wet rain 0.14
rain 0.2
dry rain 0.3 dry rain 0.06
 The Chain Rule

§ More generally, can always write any joint distribution as an

incremental product of conditional distributions
Bayes Rule
 Bayes’ Rule

§ Two ways to factor a joint distribution over two variables:

That’s my rule!

§ Dividing, we get:

§ Why is this at all helpful?

§ Lets us build one conditional from its reverse
§ Often one conditional is tricky but the other one is simple
§ Foundation of many systems we’ll see later (e.g. ASR, MT)

§ In the running for most important AI equation!

 Inference with Bayes’ Rule
§ Example: Diagnostic probability from causal probability:
P (e↵ect|cause)P (cause)
P (cause|e↵ect) =
P (e↵ect)
§ Example: P(s)=P(s,-m)+P(s,+m)
P(s,-m)=P(s|-m)P(-m)
§ M: meningitis, S: stiff neck
P (+m) = 0.0001 P(a)=P(a,b1)+P(a,b2)
Example
P (+s| + m) = 0.8 P(a,b)=P(a|b)P(b)
givens
P (+s| m) = 0.01

P (+s| + m)P (+m) P (+s| + m)P (+m) 0.8 ⇥ 0.0001

P (+m| + s) = = = =
P (+s) P (+s| + m)P (+m) + P (+s| m)P ( m) 0.8 ⇥ 0.0001 + 0.01 ⇥ 0.9999

§ Note: posterior probability of meningitis still very small

 Quiz: Bayes’ Rule
§ Given: D W P
wet sun 0.1
R P
dry sun 0.9
sun 0.8
wet rain 0.7
rain 0.2
dry rain 0.3

§ What is P(W | dry) ?

 Quiz: Bayes’ Rule
§ Given: D W P
wet sun 0.1
R P
dry sun 0.9
sun 0.8
wet rain 0.7
rain 0.2
dry rain 0.3

§ What is P(W | dry) ?

P(sun|dry) ~ P(dry|sun)P(sun) = .9*.8 = .72

P(rain|dry) ~ P(dry|rain)P(rain) = .3*.2 = .06
P(sun|dry)=12/13
P(rain|dry)=1/13
 Ghostbusters, Revisited

§ Let’s say we have two distributions:

§ Prior distribution over ghost location: P(G)
§ Let’s say this is uniform
§ Sensor reading model: P(R | G)
§ Given: we know what our sensors do
§ R = reading color measured at (1,1)
§ E.g. P(R = yellow | G=(1,1)) = 0.1

§ We can calculate the posterior

distribution P(G|r) over ghost locations
given a reading using Bayes’ rule:

[Demo: Ghostbuster – with probability (L12D2) ]

Video of Demo Ghostbusters with Probability
Next Time: Bayes’ Nets