Results 1  10
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68
ANCESTRAL GRAPH MARKOV MODELS
, 2002
"... This paper introduces a class of graphical independence models that is closed under marginalization and conditioning but that contains all DAG independence models. This class of graphs, called maximal ancestral graphs, has two attractive features: there is at most one edge between each pair of verti ..."
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Cited by 121 (23 self)
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This paper introduces a class of graphical independence models that is closed under marginalization and conditioning but that contains all DAG independence models. This class of graphs, called maximal ancestral graphs, has two attractive features: there is at most one edge between each pair of vertices; every missing edge corresponds to an independence relation. These features lead to a simple parameterization of the corresponding set of distributions in the Gaussian case.
Exploiting probabilistic knowledge under uncertain sensing for efficient robot behaviour
 In Proceedings of the TwentySecond International Joint Conference on Artificial Intelligence (IJCAI11
, 2011
"... Robots must perform tasks efficiently and reliably while acting under uncertainty. One way to achieve efficiency is to give the robot commonsense knowledge about the structure of the world. Reliable robot behaviour can be achieved by modelling the uncertainty in the world probabilistically. We prese ..."
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Cited by 28 (18 self)
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Robots must perform tasks efficiently and reliably while acting under uncertainty. One way to achieve efficiency is to give the robot commonsense knowledge about the structure of the world. Reliable robot behaviour can be achieved by modelling the uncertainty in the world probabilistically. We present a robot system that combines these two approaches and demonstrate the improvements in efficiency and reliability that result. Our first contribution is a probabilistic relational model integrating commonsense knowledge about the world in general, with observations of a particular environment. Our second contribution is a continual planning system which is able to plan in the large problems posed by that model, by automatically switching between decisiontheoretic and classical procedures. We evaluate our system on object search tasks in two different realworld indoor environments. By reasoning about the tradeoffs between possible courses of action with different informational effects, and exploiting the cues and general structures of those environments, our robot is able to consistently demonstrate efficient and reliable goaldirected behaviour. 1
Beware of the DAG!
 NIPS 2008 WORKSHOP ON CAUSALITY
, 2008
"... Directed acyclic graph (DAG) models are popular tools for describing causal relationships and for guiding attempts to learn them from data. In particular, they appear to supply a means of extracting causal conclusions from probabilistic conditional independence properties inferred from purely observ ..."
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Cited by 16 (1 self)
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Directed acyclic graph (DAG) models are popular tools for describing causal relationships and for guiding attempts to learn them from data. In particular, they appear to supply a means of extracting causal conclusions from probabilistic conditional independence properties inferred from purely observational data. I take a critical look at this enterprise, and suggest that it is in need of more, and more explicit, methodological and philosophical justification than it typically receives. In particular, I argue for the value of a clean separation between formal causal language and intuitive causal assumptions.
Modeling Discrete Interventional Data using Directed Cyclic Graphical Models
"... We outline a representation for discrete multivariate distributions in terms of interventional potential functions that are globally normalized. This representation can be used to model the effects of interventions, and the independence properties encoded in this model can be represented as a direct ..."
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Cited by 12 (0 self)
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We outline a representation for discrete multivariate distributions in terms of interventional potential functions that are globally normalized. This representation can be used to model the effects of interventions, and the independence properties encoded in this model can be represented as a directed graph that allows cycles. In addition to discussing inference and sampling with this representation, we give an exponential family parametrization that allows parameter estimation to be stated as a convex optimization problem; we also give a convex relaxation of the task of simultaneous parameter and structure learning using group ℓ1regularization. The model is evaluated on simulated data and intracellular flow cytometry data. 1
Structural Learning of Chain Graphs via Decomposition
"... Chain graphs present a broad class of graphical models for description of conditional independence structures, including both Markov networks and Bayesian networks as special cases. In this paper, we propose a computationally feasible method for the structural learning of chain graphs based on the i ..."
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Cited by 12 (0 self)
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Chain graphs present a broad class of graphical models for description of conditional independence structures, including both Markov networks and Bayesian networks as special cases. In this paper, we propose a computationally feasible method for the structural learning of chain graphs based on the idea of decomposing the learning problem into a set of smaller scale problems on its decomposed subgraphs. The decomposition requires conditional independencies but does not require the separators to be complete subgraphs. Algorithms for both skeleton recovery and complex arrow orientation are presented. Simulations under a variety of settings demonstrate the competitive performance of our method, especially when the underlying graph is sparse.
1 Planbased Object Search and Exploration Using Semantic Spatial Knowledge in the Real World
"... Abstract — In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the con ..."
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Cited by 11 (1 self)
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Abstract — In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object cooccurences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.
Graphical models for inference under outcomedependent sampling
 STAT SCI 2010;25:368–87
, 2010
"... We consider situations where data have been collected such that the sampling depends on the outcome of interest and possibly further covariates, as for instance in casecontrol studies. Graphical models represent assumptions about the conditional independencies among the variables. By including a no ..."
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Cited by 11 (1 self)
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We consider situations where data have been collected such that the sampling depends on the outcome of interest and possibly further covariates, as for instance in casecontrol studies. Graphical models represent assumptions about the conditional independencies among the variables. By including a node for the sampling indicator, assumptions about sampling processes can be made explicit. We demonstrate how to read off such graphs whether consistent estimation of the association between exposure and outcome is possible. Moreover, we give sufficient graphical conditions for testing and estimating the causal effect of exposure on outcome. The practical use is illustrated with a number of examples.
Signed directed acyclic graphs for causal inference
, 2010
"... Formal rules governing signed edges on causal directed acyclic graphs are described and it is shown how these rules can be useful in reasoning about causality. Specifically, the notions of a monotonic effect, a weak monotonic effect and a signed edge are introduced. Results are developed relating t ..."
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Cited by 10 (5 self)
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Formal rules governing signed edges on causal directed acyclic graphs are described and it is shown how these rules can be useful in reasoning about causality. Specifically, the notions of a monotonic effect, a weak monotonic effect and a signed edge are introduced. Results are developed relating these monotonic effects and signed edges to the sign of the causal effect of an intervention in the presence of intermediate variables. The incorporation of signed edges in the directed acyclic graph causal framework furthermore allows for the development of rules governing the relationship between monotonic effects and the sign of the covariance between two variables. It is shown that when certain assumptions about monotonic effects can be made then these results can be used to draw conclusions about the presence of causal effects even when data are missing on confounding variables.
Causality, mediation and time: A dynamic viewpoint
, 2012
"... Summary. Time dynamics are often ignored in causal modelling. Clearly, causality must operate in time and we show how this corresponds to a mechanistic, or system, understanding of causality. The established counterfactual definitions of direct and indirect effects depend on an ability to manipulat ..."
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Cited by 9 (1 self)
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Summary. Time dynamics are often ignored in causal modelling. Clearly, causality must operate in time and we show how this corresponds to a mechanistic, or system, understanding of causality. The established counterfactual definitions of direct and indirect effects depend on an ability to manipulate the mediator which may not hold in practice, and we argue that a mechanistic view may be better. Graphical representations based on local independence graphs and dynamic path analysis are used to facilitate communication as well as providing an overview of the dynamic relations ‘at a glance’. The relationship between causality as understood in a mechanistic and in an interventionist sense is discussed. An example using data from the Swiss HIV Cohort Study is presented.