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326 nips-2012-Structure estimation for discrete graphical models: Generalized covariance matrices and their inverses


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Author: Po-ling Loh, Martin J. Wainwright

Abstract: We investigate a curious relationship between the structure of a discrete graphical model and the support of the inverse of a generalized covariance matrix. We show that for certain graph structures, the support of the inverse covariance matrix of indicator variables on the vertices of a graph reflects the conditional independence structure of the graph. Our work extends results that have previously been established only in the context of multivariate Gaussian graphical models, thereby addressing an open question about the significance of the inverse covariance matrix of a non-Gaussian distribution. Based on our population-level results, we show how the graphical Lasso may be used to recover the edge structure of certain classes of discrete graphical models, and present simulations to verify our theoretical results. 1

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Summary: the most important sentenses genereted by tfidf model

sentIndex sentText sentNum sentScore

1 Structure estimation for discrete graphical models: Generalized covariance matrices and their inverses Martin J. [sent-1, score-0.818]

2 edu Abstract We investigate a curious relationship between the structure of a discrete graphical model and the support of the inverse of a generalized covariance matrix. [sent-5, score-1.033]

3 We show that for certain graph structures, the support of the inverse covariance matrix of indicator variables on the vertices of a graph reflects the conditional independence structure of the graph. [sent-6, score-1.203]

4 Our work extends results that have previously been established only in the context of multivariate Gaussian graphical models, thereby addressing an open question about the significance of the inverse covariance matrix of a non-Gaussian distribution. [sent-7, score-0.902]

5 Based on our population-level results, we show how the graphical Lasso may be used to recover the edge structure of certain classes of discrete graphical models, and present simulations to verify our theoretical results. [sent-8, score-0.883]

6 In many applications, learning the edge structure of an underlying graphical model is of great importance—for instance, a graphical model may be used to represent friendships between people in a social network, or links between organisms with the propensity to spread an infectious disease [1]. [sent-10, score-0.745]

7 It is well known that zeros in the inverse covariance matrix of a multivariate Gaussian distribution indicate the absence of an edge in the corresponding graphical model. [sent-11, score-1.099]

8 This fact, combined with techniques in high-dimensional statistical inference, has been leveraged by many authors to recover the structure of a Gaussian graphical model when the edge set is sparse (e. [sent-12, score-0.533]

9 [6, 7] introduced the notion of a nonparanormal distribution, which generalizes the Gaussian distribution by allowing for univariate monotonic transformations, and argued that the same structural properties of the inverse covariance matrix carry over to the nonparanormal. [sent-16, score-0.658]

10 However, the question of whether a relationship exists between conditional independence and the structure of the inverse covariance matrix in a general graph remains unresolved. [sent-17, score-0.911]

11 In this paper, we focus on discrete graphical models and establish a number of interesting links between covariance matrices and the edge structure of an underlying graph. [sent-18, score-1.036]

12 Instead of only analyzing the standard covariance matrix, we show that it is often fruitful to augment the usual covariance matrix with higherorder interaction terms. [sent-19, score-0.835]

13 Our main result has a striking corollary in the context of tree-structured graphs: for any discrete graphical model, the inverse of a generalized covariance matrix is always (block) graph-structured. [sent-20, score-1.208]

14 In particular, for binary variables, the inverse of the usual covariance matrix corresponds exactly to the edge structure of the tree. [sent-21, score-0.934]

15 1 Other related work on graphical model selection for discrete graphs includes the classic ChowLiu algorithm for trees [8]; nodewise logistic regression for discrete models with pairwise interactions [9, 10]; and techniques based on conditional entropy or mutual information [11, 12]. [sent-24, score-0.565]

16 Our main contribution is to present a clean and surprising result on a simple link between the inverse covariance matrix and edge structure of a discrete model, which may be used to derive inference algorithms applicable even to data with systematic corruptions. [sent-25, score-1.005]

17 The remainder of the paper is organized as follows: In Section 2, we provide brief background and notation on graphical models, and describe the classes of augmented covariance matrices we will consider. [sent-26, score-0.754]

18 In Section 3, we state our main results on the relationship between the support of generalized inverse covariance matrices and the edge structure of a discrete graphical model. [sent-27, score-1.288]

19 We relate our population-level results to concrete algorithms that are guaranteed to recover the edge structure of a discrete graph with high probability. [sent-28, score-0.634]

20 2 Background and problem setup In this section, we provide background on graphical models and exponential families. [sent-31, score-0.281]

21 1 Graphical models An undirected graph G = (V, E) consists of a collection of vertices V = {1, 2, . [sent-34, score-0.308]

22 , xp ) ∝ ψC (xC ), (1) C∈C where C is the set of all cliques (fully-connected subsets of V ) and ψC (xC ) are the corresponding clique potentials. [sent-48, score-0.387]

23 The factorization (1) may alternatively be represented in terms of an exponential family associated with the clique structure of G. [sent-49, score-0.264]

24 If we associate the function φs (xs ) = xs with clique {s} and the function φst (xs , xt ) = xs xt with edge (s, t), the factorization (2) becomes Pθ (x1 , . [sent-57, score-0.82]

25 Note in particular that when m = 2, X0 0 state containing the vector of all ones, and the sufficient statistics are given by φC;J (xC ) = xs , for C∈C and is a singleton J = {1}|C| ; s∈C i. [sent-83, score-0.345]

26 2 Covariance matrices and beyond Consider the usual covariance matrix Σ = cov(X1 , . [sent-89, score-0.549]

27 Nonetheless, it is tempting to conjecture that inverse covariance matrices, and more generally, inverses of higher-order moment matrices, might be related to graph structure. [sent-97, score-0.808]

28 For a multivariate Gaussian graphical model defined on G, standard theory predicts that the inverse covariance matrix Γ = Σ−1 of the distribution is graph-structured: Γst = 0 if and only if (s, t) ∈ E. [sent-103, score-0.902]

29 Surprisingly, this is also the case for the chain graph with binary / variables: a little computation show that Γ takes the form shown in panel (f). [sent-104, score-0.354]

30 However, this statement is not true for the single-cycle graph shown in panel (b), with added edge (1, 4). [sent-105, score-0.551]

31 Indeed, as shown in panel (g), the inverse covariance matrix has no nonzero entries at all. [sent-106, score-0.858]

32 But for a more complicated graph, say the one in (e), we again observe a graph-structured inverse covariance matrix. [sent-107, score-0.536]

33 The 5 × 5 inverse of this generalized covariance matrix takes the form   1. [sent-140, score-0.688]

34 19 This matrix safely separates nodes 1 and 4, but the entry corresponding to the phantom edge (1, 3) is not equal to zero. [sent-164, score-0.314]

35 Indeed, we would observe a similar phenomenon if we chose to augment the graph by including the edge (2, 4) rather than (1, 3). [sent-165, score-0.402]

36 This example shows that the usual inverse covariance matrix is not always graph-structured, but computing generalized covariance matrices involving higher-order interaction terms may indicate graph structure. [sent-167, score-1.355]

37 Now let us consider a more general graphical model that adds the 3-clique interaction terms shown in panel (d) to the usual Ising terms. [sent-168, score-0.456]

38 We compute the covariance matrix of the augmented vector Φ(X) = X1 , X2 , X3 , X4 , X1 X2 , X2 X3 , X3 X4 , X1 X4 , X1 X3 , X1 X2 X3 , X1 X3 X4 ∈ {0, 1}11 . [sent-169, score-0.536]

39 ) The goal of this paper is to understand when certain inverse covariances do (and do not) capture the structure of a graphical model. [sent-172, score-0.493]

40 3 Main results and consequences We now state our main results on the structure of generalized inverse covariance matrices and graph structure. [sent-174, score-0.971]

41 1 Population-level results Our main result concerns a connection between the inverses of generalized inverse covariance matrices associated with the model (4) and the structure of the graph. [sent-177, score-0.78]

42 Recall that a triangulation of a graph G = (V, E) is an augmented graph G = (V, E) with no chordless 4-cycles. [sent-179, score-0.75]

43 (For instance, the single cycle in panel (b) is a chordless 4-cycle, whereas panel 4 (c) shows a triangulated graph. [sent-180, score-0.455]

44 The dinosaur graph in panel (e) is also triangulated. [sent-181, score-0.509]

45 ) The edge set E corresponds to the original edge set E plus the additional edges added to form the triangulation. [sent-182, score-0.465]

46 We also require some notation for defining generalized covariance matrices. [sent-184, score-0.409]

47 We are now ready to state our main theorem regarding the support of a certain type of generalized inverse covariance matrix. [sent-190, score-0.631]

48 ] Consider an arbitrary discrete graphical model of the form (4), and let T be the set of maximal cliques in any triangulation of G. [sent-193, score-0.68]

49 Then the inverse Γ of the augmented covariance matrix cov(Φ(X; pow(T ))) is block graph-structured in the following sense: (a) For any two subsets A and B which are not subsets of the same maximal clique, the block Γ(pow(A), pow(B)) is zero. [sent-194, score-1.067]

50 This correspondence is induced by the Fenchel-Legendre duality between the log partition function A and its dual A∗ , and allows us to relate Γ to the graph structure. [sent-198, score-0.268]

51 Note that when the original graph G is a tree, the graph is already triangulated and the set T in Theorem 1 is equal to the edge set E. [sent-199, score-0.685]

52 Hence, Theorem 1 implies that the inverse Γ of the augmented covariance matrix with sufficient statistics for all vertices and edges is graph-structured, and blocks of nonzeros in Γ correspond to edges in the graph. [sent-200, score-0.984]

53 In particular, the (m − 1)p × (m − 1)p submatrix ΓV,V corresponding to sufficient statistics of vertices is block graph-structured; in the case when m = 2, the submatrix ΓV,V is simply the p × p block corresponding to the vector (X1 , . [sent-201, score-0.308]

54 When G is not triangulated, however, we may need to invert a larger augmented covariance matrix and include sufficient statistics over pairs (s, t) ∈ E, as well. [sent-205, score-0.575]

55 / In fact, it is not necessary to take the set of sufficient statistics over all maximal cliques, and we may consider a slightly smaller augmented covariance matrix. [sent-206, score-0.539]

56 Recall that any triangulation T gives rise to a junction tree representation of G, where nodes of the junction tree are subsets of V corresponding to maximal cliques in T , and the edges are intersections of adjacent cliques known as separator sets [15]. [sent-207, score-1.107]

57 The following corollary involves the generalized covariance matrix containing only sufficient statistics for nodes and separator sets of T : Corollary 1. [sent-208, score-0.934]

58 Let S be the set of separator sets in any triangulation of G, and let Γ be the inverse of cov(Φ(X; V ∪ pow(S))). [sent-209, score-0.573]

59 / The proof of this corollary is based on applying the block matrix inversion formula [17] to express ΓV,V in terms of the matrix Γ from Theorem 1. [sent-211, score-0.413]

60 Panel (c) of Example 1 and the associated matrix Γaug provides a concrete instance of this corollary in action. [sent-212, score-0.303]

61 In panel (c), the single separator set in the triangulation is {1, 3}, so augmenting the usual covariance matrix with the additional sufficient statistic X1 X3 and taking the inverse should yield a graph-structured matrix. [sent-213, score-1.213]

62 Hence, the generalized covariance matrix of Corollary 1 has a smaller dimension than the generalized covariance matrix of Theorem 1, and is much more tractable for estimation. [sent-216, score-0.992]

63 5 Although Theorem 1 and Corollary 1 are clean results at the population level, however, forming the proper augmented covariance matrix requires some prior knowledge of the graph—namely, which edges are involved in a suitable triangulation. [sent-217, score-0.67]

64 In the case of a graph with only singleton separator sets, Corollary 1 specializes to the following useful corollary, which only involves the covariance matrix over indicators of vertices of G: Corollary 2. [sent-218, score-1.021]

65 For any graph with singleton separator sets, the inverse matrix Γ of the ordinary covariance matrix cov(Φ(X; V )) is graph-structured. [sent-219, score-1.264]

66 ) Again, we may relate this corollary to Example 1—the inverse covariance matrices for the tree graph in panel (a) and the dinosaur graph in panel (e) are exactly graph-structured. [sent-221, score-1.721]

67 Indeed, although the dinosaur graph is not a tree, it possesses the nice property that the only separator sets in its junction tree are singletons. [sent-222, score-0.71]

68 Corollary 1 also guarantees that inverse covariances may be partially graph-structured, in the sense that (ΓV,V )st = 0 for any pair of vertices (s, t) separable by a singleton separator set. [sent-223, score-0.577]

69 Indeed, the matrix ΓV,V over singleton vertices is agnostic to which triangulation we choose for the graph. [sent-225, score-0.457]

70 In settings where there exists a junction tree representation of the graph with only singleton separator sets, Corollary 2 has a number of useful implications for the consistency of methods that have traditionally only been applied for edge recovery in Gaussian graphical models. [sent-226, score-1.155]

71 2 Consequences for graphical Lasso for trees Moving beyond the population level, we now establish results concerning the statistical consistency of methods for graph selection in discrete graphical models, based on i. [sent-229, score-0.954]

72 , Xp ) with covariance Σ∗ , consider the estimator Θ ∈ arg min{trace(ΣΘ) − log det(Θ) + λn Θ 0 |Θst |}, (6) s=t where Σ is an estimator for Σ∗ . [sent-237, score-0.438]

73 For multivariate Gaussian data, this program is an 1 -regularized maximum likelihood estimate known as the graphical Lasso, and is a well-studied method for recovering the edge structure in a Gaussian graphical model [18, 19, 20]. [sent-238, score-0.855]

74 Although the program (6) has no relation to the MLE in the case of a discrete graphical model, it is still useful for estimating Θ∗ := (Σ∗ )−1 , and our analysis shows the surprising result that the program is consistent for recovering the structure of any tree-structured Ising model. [sent-239, score-0.529]

75 We consider a general estimate Σ of the covariance matrix Σ such that log p ≤ c exp(−ψ(n, p)) (7) n for functions ϕ and ψ, where · max denotes the elementwise ∞ -norm. [sent-240, score-0.477]

76 P Σ − Σ∗ max ≥ ϕ(Σ∗ ) In addition, we require a certain mutual incoherence condition on the true covariance matrix Σ∗ to control the correlation of non-edge variables with edge variables in the graph. [sent-245, score-0.73]

77 Form a suitable estimate Σ of the true covariance matrix Σ. [sent-253, score-0.431]

78 Optimize the graphical Lasso program (6) with parameter λn , denoting the solution by Θ. [sent-255, score-0.295]

79 We then have the following consistency result, a straightforward consequence of the graph structure of Θ∗ and concentration properties of Σ: Corollary 3. [sent-258, score-0.303]

80 If n d2 log p, then Algorithm 1 with Σ the sample covariance matrix and parameters λn ≥ c1 log p and τn = c2 c1 log p + λn recovers all edges (s, t) with α n α n |Θ∗ | > τn /2, with probability at least 1 − c exp(−c log p). [sent-260, score-0.502]

81 st Hence, if |Θ∗ | > τn /2 for all edges (s, t) ∈ E, Corollary 3 guarantees that the log-determinant st method plus thresholding recovers the full graph exactly. [sent-261, score-0.488]

82 In the case of the standard sample covariance matrix, this method has been implemented by Banerjee et al. [sent-262, score-0.344]

83 , see panel (b) in Figure 1), so the graphical Lasso (6) is inconsistent in general. [sent-268, score-0.396]

84 On the positive side, if we restrict ourselves to tree-structured graphs, the estimator (6) is attractive, since it relies only on an estimate Σ of the population covariance Σ∗ that satisfies the deviation condition (7). [sent-269, score-0.425]

85 As a concrete example of how we may correct the program (6) to handle corrupted data, consider the case when each entry of xi is missing independently with probability ρ, and the corresponding observations zi are zero-filled for missing entries. [sent-272, score-0.328]

86 A natural estimator is Σ= 1 n n T zi zi ÷M − i=1 1 zz T , (1 − ρ)2 (9) where ÷ denotes elementwise division by the matrix M with diagonal entries (1 − ρ) and offdiagonal entries (1 − ρ)2 , correcting for the bias in both the mean and second moment terms. [sent-273, score-0.268]

87 Generalizing to the case of m-ary discrete graphical models with m > 2, we may easily modify the program (6) by replacing the elementwise 1 -penalty by the corresponding group 1 -penalty, where the groups are the indicator variables for a given vertex. [sent-280, score-0.484]

88 The five curves show the results of our graphical Lasso method applied to the dinosaur graph in Figure 1. [sent-286, score-0.607]

89 Indeed, since the dinosaur graph has only singleton separators, Corollary 2 ensures that the inverse covariance matrix is exactly graph-structured. [sent-294, score-1.095]

90 sample size for dino graph with missing data 1 0. [sent-297, score-0.342]

91 Simulation results for our graphical Lasso method on binary Ising models, allowing for missing data in the observations. [sent-306, score-0.338]

92 5 Discussion The correspondence between the inverse covariance matrix and graph structure of a Gauss-Markov random field is a classical fact, with many useful consequences for efficient estimation of Gaussian graphical models. [sent-310, score-1.214]

93 In this paper, we have provided a partial affirmative answer to this question and developed theoretical results extending such relationships to discrete undirected graphical models. [sent-312, score-0.377]

94 As shown by our results, the inverse of the ordinary covariance matrix is graph-structured for special subclasses of graphs with singleton separator sets. [sent-313, score-1.02]

95 More generally, we have shown that it is worthwhile to consider the inverses of generalized covariance matrices, formed by introducing indicator functions for larger subsets of variables. [sent-314, score-0.593]

96 When these subsets are chosen to reflect the structure of an underlying junction tree, the edge structure is reflected in the inverse covariance matrix. [sent-315, score-1.007]

97 Our population-level results have a number of statistical consequences for graphical model selection. [sent-316, score-0.3]

98 We have shown how our results may be used to establish consistency (or inconsistency) of the standard graphical Lasso applied to discrete graphs, even when observations are systematically corrupted by mechanisms such as additive noise and missing data. [sent-317, score-0.618]

99 High-dimensional covariance estimation by minimizing 1 -penalized log-determinant divergence. [sent-350, score-0.344]

100 Structure estimation for discrete graphical models: Generalized covariance matrices and their inverses. [sent-419, score-0.751]


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