nips nips2012 nips2012-248 knowledge-graph by maker-knowledge-mining

248 nips-2012-Nonparanormal Belief Propagation (NPNBP)


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Author: Gal Elidan, Cobi Cario

Abstract: The empirical success of the belief propagation approximate inference algorithm has inspired numerous theoretical and algorithmic advances. Yet, for continuous non-Gaussian domains performing belief propagation remains a challenging task: recent innovations such as nonparametric or kernel belief propagation, while useful, come with a substantial computational cost and offer little theoretical guarantees, even for tree structured models. In this work we present Nonparanormal BP for performing efficient inference on distributions parameterized by a Gaussian copulas network and any univariate marginals. For tree structured networks, our approach is guaranteed to be exact for this powerful class of non-Gaussian models. Importantly, the method is as efficient as standard Gaussian BP, and its convergence properties do not depend on the complexity of the univariate marginals, even when a nonparametric representation is used. 1

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Summary: the most important sentenses genereted by tfidf model

sentIndex sentText sentNum sentScore

1 il Abstract The empirical success of the belief propagation approximate inference algorithm has inspired numerous theoretical and algorithmic advances. [sent-7, score-0.32]

2 In this work we present Nonparanormal BP for performing efficient inference on distributions parameterized by a Gaussian copulas network and any univariate marginals. [sent-9, score-0.288]

3 For tree structured networks, our approach is guaranteed to be exact for this powerful class of non-Gaussian models. [sent-10, score-0.146]

4 Importantly, the method is as efficient as standard Gaussian BP, and its convergence properties do not depend on the complexity of the univariate marginals, even when a nonparametric representation is used. [sent-11, score-0.172]

5 The usefulness of such models in complex domains, where exact computations are infeasible, relies on our ability to perform efficient and reasonably accurate inference of marginal and conditional probabilities. [sent-13, score-0.182]

6 Perhaps the most popular approximate inference algoritm for graphical models is belief propagation (BP) [Pearl, 1988]. [sent-14, score-0.345]

7 This has inspired several innovative and practically useful methods specifically aimed at the continuous non-Gaussian case such as expectation propagation [Minka, 2001], particle BP [Ihler and McAllester, 2009], nonparametric BP [Sudderth et al. [sent-26, score-0.161]

8 In terms of generality, we focus on the flexible class of Copula Bayesian Networks (CBNs) [Elidan, 2010] that are defined via local Gaussian copula functions and any univariate densities (possible nonparametric). [sent-33, score-0.518]

9 Utilizing the power of the copula framework [Nelsen, 2007], these models can capture complex multi-modal and heavy-tailed phenomena. [sent-34, score-0.339]

10 1 Figure 1: Samples from the bivariate Gaussian copula with correlation θ = 0. [sent-35, score-0.421]

11 First, it is guaranteed to converge and return exact results on tree structured models, regardless of the form of the univariate densities. [sent-39, score-0.273]

12 Third, its convergence properties on general graphs are similar to that of GaBP and, quite remarkably, do not depend on the complexity of the univariate marginals. [sent-41, score-0.127]

13 2 Background In this section we provide a brief background on copulas in general, the Gaussian copula in particular, and the Copula Bayesian Network model of Elidan [2010]. [sent-42, score-0.413]

14 1 The Gaussian Copula A copula function [Sklar, 1959] links marginal distributions to form a multivariate one. [sent-44, score-0.417]

15 A copula function C : [0, 1]n → [0, 1] is a joint distribution Cθ (u1 , . [sent-50, score-0.339]

16 , Un ≤ un ), where θ are the parameters of the copula function. [sent-56, score-0.442]

17 Sklar’s seminal theorem states that for any joint distribution FX (x), there exists a copula function C such that FX (x) = C(FX1 (x1 ), . [sent-61, score-0.339]

18 When the univariate marginals are continuous, C is uniquely defined. [sent-65, score-0.255]

19 Since Ui ≡ Fi is itself a random variable that is always uniformly distributed in [0, 1], any copula function taking any marginal distributions {Ui } as its arguments, defines a valid joint distribution with marginals {Ui }. [sent-67, score-0.572]

20 Thus, copulas are “distribution generating” functions that allow us to separate the choice of the univariate marginals and that of the dependence structure, encoded in the copula function C. [sent-68, score-0.668]

21 2: The Gaussian copula distribution is defined by: −1 −1 CΣ (u1 , . [sent-71, score-0.339]

22 However, the Gaussian copula can give rise to complex varied distribution and offers great flexibility. [sent-80, score-0.339]

23 As an example, Figure 1 shows two bivariate distributions that are constructed using the Gaussian copula and two different sets of univariate marginals. [sent-81, score-0.548]

24 Generally, any univariate marginal, both parametric and nonparametric can be used. [sent-82, score-0.172]

25 Let ϕΣ (x) denote the multivariate normal density with mean zero and covariance Σ, and let ϕ(x) denote the univariate standard normal density. [sent-83, score-0.205]

26 Using the derivative chain rule and the derivative 2 inverse function theorem, the Gaussian copula density c(u1 , . [sent-84, score-0.417]

27 = −1 ∂Ui i ϕ(Φ (ui )) For a distribution defined by a Gaussian copula FX (x1 , . [sent-103, score-0.339]

28 , Fn (xn )), using ∂Ui /∂Xi = fi , we have fX (x1 , . [sent-109, score-0.184]

29 , ∂Xn i fi (xi ), (2) i −1 where xi ≡ Φ (ui ) ≡ Φ (Fi (xi )). [sent-121, score-0.269]

30 ΘC is a set of local copula functions Ci (ui , upai1 , . [sent-135, score-0.339]

31 In addition, Θf is the set of parameters representing the marginal densities fi (xi ) (and distributions ui ≡ Fi (xi )). [sent-139, score-0.42]

32 , upaiki )fi (xi ) (3) i=1 i When Xi has no parents in G, Rci (·) ≡ 1. [sent-152, score-0.115]

33 Note that Rci (·)fi (xi ) is always a valid conditional density f (xi | pai ), and can be easily computed. [sent-153, score-0.18]

34 In particular, when the copula density c(·) in the numerator has an explicit form, so does Rci (·). [sent-154, score-0.417]

35 , upaiki ) defines a valid copula so that the univariate marginals of the constructed density are fi (xi ). [sent-159, score-0.951]

36 In this case the CBN model can be viewed as striking a balance between the fixed marginals and the unconstrained maximum likelihood objectives. [sent-162, score-0.128]

37 3 Nonparanormal Belief Propagation As exemplified in Figure 1, the Gaussian copula can give rise to complex multi-modal joint distributions. [sent-164, score-0.339]

38 Yet, as we show in this section, tractable inference in this highly non-Gaussian model is possible, regardless of the form of the univariate marginals. [sent-166, score-0.188]

39 , xn ) be a density parameterized by a Gaussian copula. [sent-173, score-0.144]

40 dxn Rn−k k = fi (xi ) ϕ(˜i ) x i=1 n −1 −1 ϕΣ Φ (F1 (x1 )), . [sent-192, score-0.218]

41 , Φ (Fn (xn )) Changing the integral variables to Ui and using fi = k fX1 ,. [sent-195, score-0.212]

42 , xk ) = fi (xi ) ϕ(˜i ) x i=1 ∂Ui ∂Xi fi (xi ) dxk+1 . [sent-201, score-0.395]

43 ϕ(Φ (Fi (xi ))) i=k+1 −1 so that fi (xi )dxi = dui , we have ϕΣ Φ−1 (u1 ), . [sent-205, score-0.184]

44 −1 −1 ˜ Changing variables once again to xi = Φ (ui ), and using ∂ Xi /∂Ui = ϕ(˜i ) , we have ˜ x k fX1 ,. [sent-212, score-0.113]

45 x ˜ x x Rn−k The integral on the right hand side is now a standard marginalization of a multivariate Gaussian (over xi ’s) and can be carried out in closed form. [sent-225, score-0.128]

46 Letting W = X \ {Z ∪ Y} denote non query or evidence variables, and plugging in the above, we have: fY|Z (y | z) = f (x)dw = f (x)dwdy i∈Y fi (xi ) ϕ(˜i ) x ˜ ϕΣ (˜1 , . [sent-227, score-0.184]

47 , xn ) dwd˜ x ˜ The conditional density is now easy to compute since a ratio of normal distributions is also normal. [sent-234, score-0.144]

48 The final answer, of course, does involve fi (xi ). [sent-235, score-0.184]

49 , xn ) = i fi (xi ) ϕ(˜i ) x ϕΣi (˜i , xpai1 , . [sent-243, score-0.25]

50 When the graph is tree structured, this density x is also a copula and its marginals are fi (xi ). [sent-251, score-0.811]

51 , xpaiki ) x ˜ i i Since a ratio of Gaussians is also a Gaussian, the entire density is Gaussian in xi space, and compu˜ tation of any marginal fY (˜ ) is easy. [sent-262, score-0.342]

52 The required marginal in xi space is then recovered using y ˜ fY (y) = fY (˜ ) ˜ y i∈Y fi (xi ) ϕ(˜i ) x (4) which essentially summarizes the detailed derivation of the previous section. [sent-263, score-0.347]

53 2, the marginals may not equal fi (xi ), and the above simplification is not applicable. [sent-265, score-0.312]

54 However, for the Gaussian case, it is always possible to estimate the local copulas in a topological order so that the univariate marginals are equal to fi (xi ) (the model in this case is equivalent to the distribution-free continuous Bayesian belief net model [Kurowicka and Cooke, 2005]). [sent-266, score-0.656]

55 1: The complexity of inference in a Gaussian CBN model is the same as that of inference in a multivariate Gaussian model of the same structure. [sent-268, score-0.122]

56 CG ← a valid cluster graph over the following potentials for all nodes i in the graph • ϕΣi (˜i , xpai1 , . [sent-272, score-0.14]

57 , xpaiki ) x ˜ i foreach cluster S in CG bG (˜ S ) ← GaBP belief over cluster S. [sent-278, score-0.336]

58 x foreach cluster S in CG bS (xS ) = bG (˜ S ) x // use black-box GaBP in xi space ˜ // change to xi space fi (xi ) i∈S ϕ(˜i ) x While mathematically this conclusion is quite straightforward, the implications are significant. [sent-279, score-0.413]

59 A GCBN model is the only general purpose non-Gaussian continuous graphical model for which exact inference is tractable. [sent-280, score-0.129]

60 (4) includes fi (xi ) terms for all variables that have not been marginalized out. [sent-284, score-0.212]

61 As noted, this is indeed desirable as we would like to preserve the complexity of the density in the marginal computation. [sent-285, score-0.156]

62 A possible alternative is to consider the popular belief propagation algorithm [Pearl, 1988]. [sent-294, score-0.259]

63 In the case of a GCBN model, performing belief propagation may seem difficult since Ψi (xi ) ≡ fi (xi ) can have a complex form. [sent-296, score-0.469]

64 That is, one can perform inference in xi space using standard Gaussian BP ˜ (GaBP) [Weiss and Freeman, 2001], and then perform the needed change of variables. [sent-298, score-0.146]

65 In fact, this is true regardless of the structure of the graph so that loopy GaBP can also be used to perform approximate computations for a general GCBN model in xi space. [sent-299, score-0.159]

66 • Observation 2: Convergence of NPNBP depends only on the covariance matrices Σi that parameterize the local copula and does not depend on the univariate form. [sent-305, score-0.466]

67 Nonparametric BP marginals for the GCBN model learned from the wine quality dataset. [sent-309, score-0.21]

68 Shown are the marginal densities for the first four variables. [sent-310, score-0.13]

69 We learned a tree structured GCBN using a standard Chow-Liu approach [Chow and Liu, 1968], and a model with up to two parents for each variable using standard greedy structure search. [sent-312, score-0.15]

70 For the univariate densities, we use a standard Gaussian kernel density estimator (see, for example, [Bowman and Azzalini, 1997]). [sent-314, score-0.205]

71 In this case, since our univariate densities are constructed using Gaussian kernels, there is no approximation in the NBP representation and all approximations are due to message computations. [sent-324, score-0.207]

72 1 Qualitative Assessment We start with a small domain where the qualitative nature of the inferred marginals is easily explored, and consider performance and running time in more substantial domains in the next section. [sent-328, score-0.259]

73 We first examine a tree structured GCBN model where our NPNBP method allows us to perform exact marginal computations. [sent-331, score-0.224]

74 Figure 2 compares the first four marginals to the ones computed by the NBP method. [sent-332, score-0.128]

75 As can be clearly seen, although the NBP marginals are not nonsensical, they are far from accurate (results for the other marginals in the domain are similar). [sent-333, score-0.281]

76 Figure 3 demonstrates the quality of the bivariate marginals inferred by our NPNBP method relative to the ones of a linear Gaussian BN model where inference can also be carried out efficiently. [sent-340, score-0.371]

77 In contrast, the bivariate marginals computed by our algorithm (right panel) demonstrate the power of working with a copula-based construction and an effective inference procedure: in both cases the inferred marginals capture the non-Gaussian distributions quite accurately. [sent-343, score-0.431]

78 Total Sulfur (a) true samples (b) optimal Gaussian (c) CBN marginal Figure 3: The bivariate density for two pairs of variables in a tree structured GCBN model learned from the wine quality dataset. [sent-347, score-0.451]

79 (a) empirical samples; (b) maximum likelihood Gaussian density; (c) exact GCBN marginal computed using our NPNBP algorithm. [sent-348, score-0.121]

80 In this setting, the bivariate marginal computed by our algorithm (d) is approximate and we also compare to the exact marginal (c). [sent-350, score-0.281]

81 NPNBP dampens some of this accuracy and results in marginal densities that have the correct overall structure but with a reduced variance. [sent-352, score-0.13]

82 Nevertheless, the approximate result of NPNBP is clearly better than the exact Gaussian model, which assigns very low probability to regions of high density (along the main vertical axis of the density). [sent-354, score-0.121]

83 For each domain we learn a tree structured GCBN, and justify the need for the expressive copula-based model by reporting its average generalization advantage in terms of log-loss/instance over a standard linear Gaussian model. [sent-362, score-0.128]

84 We justify the use of NPNBP for performing inference by comparing the running time of NPNBP to exact computations carried out using matrix inversion. [sent-363, score-0.173]

85 Density (a) true samples (b) optimal Gaussian (c) exact CBN marginal (d) inferred marginal Figure 4: The bivariate density for a pair of variables in a non-tree GCBN model learned from the wine quality dataset. [sent-379, score-0.501]

86 (a) empirical samples; (b) maximum likelihood Gaussian density; (c) exact CBN marginal; (d) marginal density computed by our NPNBP algorithm. [sent-380, score-0.199]

87 (right) speedup relative to matrix inversion for a tree structured GCBN model. [sent-383, score-0.166]

88 As discussed, a GCBN model is itself tractable in that inference can be carried out by first constructing the inverse covariance matrix over all variables and then inverting it so as to facilitate marginalization. [sent-389, score-0.132]

89 Figure 5(right) shows the speedup of NPNBP relative to inference based on matrix inversion for the different domains. [sent-391, score-0.124]

90 Although NPNBP is somewhat slower for the small domains (in which inference is carried out in less than a second), the speedup of NPNBP reaches an order of magnitude for the larger gene expression domain. [sent-392, score-0.221]

91 5 Summary We presented Nonparanormal Belief Propagation (NPNBP), a propagation-based algorithm for performing highly efficient inference in a powerful class of graphical models that are based on the Gaussian copula. [sent-395, score-0.112]

92 To our knowledge, ours is the first inference method for an expressive continuous non-Gaussian representation that, like ordinary GaBP, is both highly efficient and provably correct for tree structured models. [sent-396, score-0.164]

93 Appealingly, the efficiency and convergence properties of our method do not depend on the choice of univariate marginals, even when a nonparametric representation is used. [sent-397, score-0.172]

94 The Gaussian copula is a powerful model widely used to capture complex phenomenon in fields ranging from mainstream economics (e. [sent-398, score-0.339]

95 Recent probabilistic graphical models that build on the Gaussian copula open the door for new high-dimensional non-Gaussian applications [Kirshner, 2007, Liu et al. [sent-402, score-0.364]

96 On the uniqueness of loopy belief propagation fixed points. [sent-456, score-0.305]

97 Turbo decoding as an instance of pearl’s belief propagation algorithm. [sent-504, score-0.259]

98 Loopy belief propagation for approximate inference: An empirical study. [sent-521, score-0.259]

99 An analysis of belief propagation on the turbo decoding graph with gaussian densities. [sent-541, score-0.418]

100 Correctness of belief propagation in gaussian graphical models of arbitrary topology. [sent-577, score-0.387]


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